diff --git a/smacc2_client_library/keyboard_client/include/keyboard_client/cl_keyboard.hpp b/smacc2_client_library/keyboard_client/include/keyboard_client/cl_keyboard.hpp index 1bf390df0..1afb837d5 100644 --- a/smacc2_client_library/keyboard_client/include/keyboard_client/cl_keyboard.hpp +++ b/smacc2_client_library/keyboard_client/include/keyboard_client/cl_keyboard.hpp @@ -26,7 +26,7 @@ namespace cl_keyboard { -//----------------- TIMER sc::event DEFINITION ---------------------------------------------- +//----------------- KEYBOARD EVENT DEFINITIONS ---------------------------------------------- template struct EvKeyPressA : sc::event> { diff --git a/smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/nav2z_client.hpp b/smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/nav2z_client.hpp index be70cd711..a8c5e5add 100644 --- a/smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/nav2z_client.hpp +++ b/smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/nav2z_client.hpp @@ -1,4 +1,4 @@ -// Copyright 2021 RobosoftAI Inc. +// Copyright 2024 Robosoft Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,32 +12,30 @@ // 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 - namespace cl_nav2z { +// Declare Client class, inherit from SmaccActionClientBase template with default action argument. class ClNav2Z : public smacc2::client_bases::SmaccActionClientBase { public: + // Bring the SmaccActionClientBase types into the current scope. using smacc2::client_bases::SmaccActionClientBase::GoalHandle; using smacc2::client_bases::SmaccActionClientBase< nav2_msgs::action::NavigateToPose>::ResultCallback; + // Define "SmaccNavigateResultSignal" as a SmaccSignal that points to the WrappedResult type of SmaccActionClientBase. typedef smacc2::SmaccSignal SmaccNavigateResultSignal; + // Declare Client class constructor with string set to the right ROS action. ClNav2Z(std::string navigateToPoseAction = "/navigate_to_pose"); + // Declare Client class destructor. virtual ~ClNav2Z(); }; diff --git a/smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/components/odom_tracker/cp_odom_tracker.cpp b/smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/components/odom_tracker/cp_odom_tracker.cpp index 3df32c3e3..3a7ceb3fd 100644 --- a/smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/components/odom_tracker/cp_odom_tracker.cpp +++ b/smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/components/odom_tracker/cp_odom_tracker.cpp @@ -99,7 +99,6 @@ void CpOdomTracker::onInitialize() */ void CpOdomTracker::setWorkingMode(WorkingMode workingMode) { - // RCLCPP_INFO(getLogger(),"odom_tracker m_mutex acquire"); std::lock_guard lock(m_mutex_); switch (workingMode) @@ -126,6 +125,14 @@ void CpOdomTracker::setWorkingMode(WorkingMode workingMode) RCLCPP_INFO_STREAM(getLogger(), "[CpOdomTracker] setting working mode to "); } + if (this->odomSub_->get_publisher_count() == 0) + { + RCLCPP_ERROR_STREAM( + getLogger(), + "[CpOdomTracker] Odom tracker cannot record the path because there is no publisher to the " + "odometry topic"); + } + workingMode_ = workingMode; // RCLCPP_INFO(getLogger(),"odom_tracker m_mutex release"); } @@ -150,7 +157,15 @@ void CpOdomTracker::pushPath(std::string pathname) { RCLCPP_INFO(getLogger(), "odom_tracker m_mutex acquire"); std::lock_guard lock(m_mutex_); + this->logStateString(false); + if (this->odomSub_->get_publisher_count() == 0) + { + RCLCPP_ERROR_STREAM( + getLogger(), + "[CpOdomTracker] Odom tracker cannot record the path because there is no publisher to the " + "odometry topic"); + } pathInfos_.push_back({currentPathName_, this->currentMotionGoal_}); pathStack_.push_back(baseTrajectory_); @@ -182,6 +197,14 @@ void CpOdomTracker::popPath(int popCount, bool keepPreviousPath) RCLCPP_INFO(getLogger(), "POP PATH ENTRY"); this->logStateString(); + if (this->odomSub_->get_publisher_count() == 0) + { + RCLCPP_ERROR_STREAM( + getLogger(), + "[CpOdomTracker] Odom tracker cannot record the path because there is no publisher to the " + "odometry topic"); + } + if (!keepPreviousPath) { baseTrajectory_.poses.clear(); @@ -239,6 +262,14 @@ void CpOdomTracker::logStateString(bool debug) } ss << "---"; + if (this->odomSub_->get_publisher_count() == 0) + { + ss << std::endl + << "[CpOdomTracker] Odom tracker cannot record the path because there is no publisher to " + "the odometry topic" + << std::endl; + } + if (debug) RCLCPP_DEBUG(getLogger(), ss.str().c_str()); else diff --git a/smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/nav2z_client.cpp b/smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/nav2z_client.cpp index 1ad641e71..fe0250973 100644 --- a/smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/nav2z_client.cpp +++ b/smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/nav2z_client.cpp @@ -1,4 +1,4 @@ -// Copyright 2021 RobosoftAI Inc. +// Copyright 2024 Robosoft Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,28 +12,26 @@ // See the License for the specific language governing permissions and // limitations under the License. -/***************************************************************************************************************** - * - * Authors: Pablo Inigo Blasco, Brett Aldrich - * - ******************************************************************************************************************/ #include - -#include - #include +#include namespace cl_nav2z { +// Define "Base" as a SmaccActionClientBase with NavigateToPose as action argument, tie to WrappedResult. typedef smacc2::client_bases::SmaccActionClientBase Base; typedef Base::WrappedResult WrappedResult; +// Define Client class constructor. ClNav2Z::ClNav2Z(std::string moveBaseName) : Base(moveBaseName) { // RCLCPP_INFO(getLogger(),"Smacc Move Base Action Client"); } +// Define Client class destructor. ClNav2Z::~ClNav2Z() {} + } // namespace cl_nav2z +// Export the ClNav2Z class as type smacc2::ISmaccClient as an implementation of the ISmaccClient interface. PLUGINLIB_EXPORT_CLASS(cl_nav2z::ClNav2Z, smacc2::ISmaccClient) diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/CHANGELOG.rst b/smacc2_client_library/nitrosz_client/nitrosz_client/CHANGELOG.rst deleted file mode 100644 index df463a5a6..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/CHANGELOG.rst +++ /dev/null @@ -1,13097 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package nitrosz_client -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -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 - -* more progress in humble SMACC2 deb generation -* humble check -* publisher -* progress in migration to humble -* Feature/fix mutex galactic (#319) - * bug fix galactic mutex - * testing undo motion and also improving action client - * important refactoring smacc action client - * fix - * progress in smacc action client - * progress in the smacc action client fork based on signals - * more changes - * more testing - * more testing - * more testing on abort - * minor - * adding smaccServiceerver client to galactic - * Update cb_default_keyboard_behavior.hpp - * testing more husky robot - * progress in tests husky demo - * testing abort forward and undo - * finishing cancel and undo behavior tests -* Undo motion in stEvasion after detecting enemy - in testing (#315) - * Undo motion in stEvasion after detecting enemy - in testing - * minor format - * putting in green SMACC2 -* Feature/husky barrel improvements (#314) - * improvements in navigation client behaviors and husky barrel demo - * many improvements in action client and cb sequence for hysky barrel search - * more and better navigation behaviors on husky barrel search demo - * functionality improvements in navigation and improvements of warehouse 3, format - * functionality improvements in navigation and improvements of warehouse 3 and husky - * format - * warehouse 3 improvements - * merge galactic - * merge fix - * minor - * dead branch for husky barrel sm and opencv funcionalities - * final s-pattern and final attack - * format and other - * refining final attack state and also retry states for s-pattern - * fixing PR green - * minor changes -* improvements in navigation client behaviors and husky barrel demo (#311) - * improvements in navigation client behaviors and husky barrel demo - * many improvements in action client and cb sequence for hysky barrel search - * more and better navigation behaviors on husky barrel search demo - * functionality improvements in navigation and improvements of warehouse 3, format - * functionality improvements in navigation and improvements of warehouse 3 and husky - * format -* husky_improvements (#299) - * husky_improvements - * different planners profiles for navigation - * getting changes from galactic - * planner switcher - * using galactic branch files - * fixing breaking changes - * minor fix - * removing nav from source files - * merge -* Feature/barrel husky improvements (#293) - * 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/nitrosz 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) - * Update cb_navigate_global_position.hpp - * 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/nitrosz 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. - * 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 - * 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/nitrosz 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 - * 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/nitrosz 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 - * fix broken source build (#227) - * Only rolling version should be pre-released on on master. (#230) - * Correct Focal-Rolling builds by fixing the version of rosdep yaml (#234) - * 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. - * 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/nitrosz 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 - * Feature/barrel - do not merge yet (#233) - * 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/nitrosz 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 - * minor - * barrel search updates - * making models local - * red picuup - * multiple controllable leds plugin - * progress in husky demo - * progressing in husky demo - * improving navigation behaviors - * more merge - 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 - * Feature/docker improvements march 2022 (#235) - * 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/nitrosz 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 - * minor - * barrel search updates - * making models local - * red picuup - * multiple controllable leds plugin - * progress in husky demo - * progressing in husky demo - * improving navigation behaviors - * more merge - * docker improvements - 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 - * Use correct upstream .repos files for source builds (#243) - * Correct mergify branch names (#246) - * Correct name of source-build job and bump version of action (#242) (#247) - Co-authored-by: Denis Štogl - Co-authored-by: Pablo Iñigo Blasco - * Update galactic source build job name (#250) - * Galactic source build: update .repos file, bump action version and use correct version of upstream packages (backport #241) (#248) - Co-authored-by: Denis Štogl - * fixing rolling build (#239) - * fixing rolling build - * trying to fix dependencies - * missing repo - * fixing to focal by the moment - * more fixing rolling build - * minor - * cache matrix rolling and source build package - * minor - * minor - * missing repo - * missing deps - * fixing building issue - * typo - * fixing broken build - * build fix - * restoring workflow files (#252) - * restoring files (#253) - * Fix checkout branches for scheduled builds (#254) - * correct checkout branch on scheduled build - * Update foxy-source-build.yml - * Feature/fixing husky build rolling (#257) - * restoring files - * making husky project build on rolling - * Feature/fixing husky build rolling (#258) - * restoring files - * making husky project build on rolling - * husky progress - * Update README.md (#262) - * Feature/fixing ur demos (#261) - * restoring files - * fixes - * Feature/fixing type string walker (#263) - * restoring files - * fixing type string walker threesome demo - * Update README.md (#266) - * Update README.md (#267) - * Update README.md (#268) - * Significant update in Getting Started Instructions (#269) - * Significant update in Getting Started Instructions - * Remove trailing spaces. - Co-authored-by: Denis Štogl - * fixing ur demo (#273) - * fix: initialise conditionFlag as false (#274) - * precommit fix (#280) - I merge this in red for focal-rolling because it was already broken anyway and it is only a minor update of the precommit - * progress on the sm_husky_barrel - * missing code - * more on husky demo for 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 - Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com> - Co-authored-by: brettpac -* Revert "Ignore packages which should not be released." - This reverts commit dec14a936a877b2ef722a6a32f1bf3df09312542. -* Contributors: Denis Štogl, Pablo Iñigo Blasco, pabloinigoblasco - -0.3.0 (2022-04-04) ------------------- - -0.0.0 (2022-11-09) ------------------- -* more progress in humble SMACC2 deb generation -* humble check -* publisher -* progress in migration to humble -* Feature/fix mutex galactic (#319) - * bug fix galactic mutex - * testing undo motion and also improving action client - * important refactoring smacc action client - * fix - * progress in smacc action client - * progress in the smacc action client fork based on signals - * more changes - * more testing - * more testing - * more testing on abort - * minor - * adding smaccServiceerver client to galactic - * Update cb_default_keyboard_behavior.hpp - * testing more husky robot - * progress in tests husky demo - * testing abort forward and undo - * finishing cancel and undo behavior tests -* Undo motion in stEvasion after detecting enemy - in testing (#315) - * Undo motion in stEvasion after detecting enemy - in testing - * minor format - * putting in green SMACC2 -* Feature/husky barrel improvements (#314) - * improvements in navigation client behaviors and husky barrel demo - * many improvements in action client and cb sequence for hysky barrel search - * more and better navigation behaviors on husky barrel search demo - * functionality improvements in navigation and improvements of warehouse 3, format - * functionality improvements in navigation and improvements of warehouse 3 and husky - * format - * warehouse 3 improvements - * merge galactic - * merge fix - * minor - * dead branch for husky barrel sm and opencv funcionalities - * final s-pattern and final attack - * format and other - * refining final attack state and also retry states for s-pattern - * fixing PR green - * minor changes -* improvements in navigation client behaviors and husky barrel demo (#311) - * improvements in navigation client behaviors and husky barrel demo - * many improvements in action client and cb sequence for hysky barrel search - * more and better navigation behaviors on husky barrel search demo - * functionality improvements in navigation and improvements of warehouse 3, format - * functionality improvements in navigation and improvements of warehouse 3 and husky - * format -* husky_improvements (#299) - * husky_improvements - * different planners profiles for navigation - * getting changes from galactic - * planner switcher - * using galactic branch files - * fixing breaking changes - * minor fix - * removing nav from source files - * merge -* Feature/barrel husky improvements (#293) - * 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/nitrosz 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) - * Update cb_navigate_global_position.hpp - * 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/nitrosz 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. - * 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 - * 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/nitrosz 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 - * 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/nitrosz 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 - * fix broken source build (#227) - * Only rolling version should be pre-released on on master. (#230) - * Correct Focal-Rolling builds by fixing the version of rosdep yaml (#234) - * 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. - * 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/nitrosz 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 - * Feature/barrel - do not merge yet (#233) - * 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/nitrosz 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 - * minor - * barrel search updates - * making models local - * red picuup - * multiple controllable leds plugin - * progress in husky demo - * progressing in husky demo - * improving navigation behaviors - * more merge - 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 - * Feature/docker improvements march 2022 (#235) - * 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/nitrosz 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 - * minor - * barrel search updates - * making models local - * red picuup - * multiple controllable leds plugin - * progress in husky demo - * progressing in husky demo - * improving navigation behaviors - * more merge - * docker improvements - 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 - * Use correct upstream .repos files for source builds (#243) - * Correct mergify branch names (#246) - * Correct name of source-build job and bump version of action (#242) (#247) - Co-authored-by: Denis Štogl - Co-authored-by: Pablo Iñigo Blasco - * Update galactic source build job name (#250) - * Galactic source build: update .repos file, bump action version and use correct version of upstream packages (backport #241) (#248) - Co-authored-by: Denis Štogl - * fixing rolling build (#239) - * fixing rolling build - * trying to fix dependencies - * missing repo - * fixing to focal by the moment - * more fixing rolling build - * minor - * cache matrix rolling and source build package - * minor - * minor - * missing repo - * missing deps - * fixing building issue - * typo - * fixing broken build - * build fix - * restoring workflow files (#252) - * restoring files (#253) - * Fix checkout branches for scheduled builds (#254) - * correct checkout branch on scheduled build - * Update foxy-source-build.yml - * Feature/fixing husky build rolling (#257) - * restoring files - * making husky project build on rolling - * Feature/fixing husky build rolling (#258) - * restoring files - * making husky project build on rolling - * husky progress - * Update README.md (#262) - * Feature/fixing ur demos (#261) - * restoring files - * fixes - * Feature/fixing type string walker (#263) - * restoring files - * fixing type string walker threesome demo - * Update README.md (#266) - * Update README.md (#267) - * Update README.md (#268) - * Significant update in Getting Started Instructions (#269) - * Significant update in Getting Started Instructions - * Remove trailing spaces. - Co-authored-by: Denis Štogl - * fixing ur demo (#273) - * fix: initialise conditionFlag as false (#274) - * precommit fix (#280) - I merge this in red for focal-rolling because it was already broken anyway and it is only a minor update of the precommit - * progress on the sm_husky_barrel - * missing code - * more on husky demo for 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 - Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com> - Co-authored-by: brettpac -* 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/nitrosz 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/nitrosz 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/nitrosz 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/nitrosz 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/nitrosz 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/nitrosz 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/nitrosz_client/nitrosz_client/CMakeLists.txt b/smacc2_client_library/nitrosz_client/nitrosz_client/CMakeLists.txt deleted file mode 100644 index 8d472bfaa..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/CMakeLists.txt +++ /dev/null @@ -1,119 +0,0 @@ -cmake_minimum_required(VERSION 3.5) -project(nitrosz_client) - -# 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(smacc2 REQUIRED) -find_package(std_srvs REQUIRED) -find_package(std_msgs REQUIRED) -find_package(nav2_msgs REQUIRED) -find_package(tf2 REQUIRED) -find_package(tf2_ros REQUIRED) -find_package(angles REQUIRED) -find_package(yaml_cpp_vendor REQUIRED) -find_package(tf2_geometry_msgs REQUIRED) -find_package(pluginlib REQUIRED) -find_package(bond REQUIRED) -find_package(slam_toolbox REQUIRED) -find_package(ament_index_cpp REQUIRED) -find_package(rclcpp_action REQUIRED) -find_package(nav2_util) - - -set(dependencies - smacc2 - std_srvs - std_msgs - nav2_msgs - tf2 - tf2_ros - angles - yaml_cpp_vendor - tf2_geometry_msgs - bond - slam_toolbox - ament_index_cpp - rclcpp_action - nav2_util -) - -include_directories(include) - -add_library(${PROJECT_NAME} SHARED - src/${PROJECT_NAME}/nitrosz_client.cpp - src/${PROJECT_NAME}/common.cpp - - src/${PROJECT_NAME}/client_behaviors/cb_nitrosz_client_behavior_base.cpp - src/${PROJECT_NAME}/client_behaviors/cb_absolute_rotate.cpp - src/${PROJECT_NAME}/client_behaviors/cb_rotate_look_at.cpp - src/${PROJECT_NAME}/client_behaviors/cb_navigate_backward.cpp - src/${PROJECT_NAME}/client_behaviors/cb_navigate_forward.cpp - src/${PROJECT_NAME}/client_behaviors/cb_abort_navigation.cpp - src/${PROJECT_NAME}/client_behaviors/cb_navigate_global_position.cpp - src/${PROJECT_NAME}/client_behaviors/cb_navigate_next_waypoint.cpp - src/${PROJECT_NAME}/client_behaviors/cb_navigate_next_waypoint_until_reached.cpp - src/${PROJECT_NAME}/client_behaviors/cb_navigate_named_waypoint.cpp - src/${PROJECT_NAME}/client_behaviors/cb_rotate.cpp - src/${PROJECT_NAME}/client_behaviors/cb_undo_path_backwards.cpp - src/${PROJECT_NAME}/client_behaviors/cb_wait_pose.cpp - src/${PROJECT_NAME}/client_behaviors/cb_wait_nitros_nodes.cpp - src/${PROJECT_NAME}/client_behaviors/cb_pause_slam.cpp - src/${PROJECT_NAME}/client_behaviors/cb_resume_slam.cpp - src/${PROJECT_NAME}/client_behaviors/cb_wait_transform.cpp - src/${PROJECT_NAME}/client_behaviors/cb_seek_waypoint.cpp - - # COMPONENTS - src/${PROJECT_NAME}/components/costmap_switch/cp_costmap_switch.cpp - #src/${PROJECT_NAME}/components/odom_tracker/cp_odom_tracker_node.cpp - - src/${PROJECT_NAME}/components/odom_tracker/cp_odom_tracker.cpp - src/${PROJECT_NAME}/components/planner_switcher/cp_planner_switcher.cpp - src/${PROJECT_NAME}/components/goal_checker_switcher/cp_goal_checker_switcher.cpp - src/${PROJECT_NAME}/components/pose/cp_pose.cpp - src/${PROJECT_NAME}/components/waypoints_navigator/cp_waypoints_event_dispatcher.cpp - src/${PROJECT_NAME}/components/waypoints_navigator/cp_waypoints_navigator.cpp - src/${PROJECT_NAME}/components/waypoints_navigator/cp_waypoints_visualizer.cpp - src/${PROJECT_NAME}/components/amcl/cp_amcl.cpp - src/${PROJECT_NAME}/components/slam_toolbox/cp_slam_toolbox.cpp - - src/${PROJECT_NAME}/client_behaviors/cb_active_stop.cpp - src/${PROJECT_NAME}/client_behaviors/cb_load_waypoints_file.cpp - src/${PROJECT_NAME}/client_behaviors/cb_navigate_next_waypoint_free.cpp - src/${PROJECT_NAME}/client_behaviors/cb_position_control_free_space.cpp - src/${PROJECT_NAME}/client_behaviors/cb_pure_spinning.cpp - src/${PROJECT_NAME}/client_behaviors/cb_save_slam_map.cpp -) - -ament_target_dependencies(${PROJECT_NAME} - ${dependencies}) - -target_link_libraries(${PROJECT_NAME}) - -ament_export_include_directories(include) -ament_export_libraries(${PROJECT_NAME}) -ament_export_dependencies(${dependencies}) - -install(TARGETS ${PROJECT_NAME} - ARCHIVE DESTINATION lib - LIBRARY DESTINATION lib - RUNTIME DESTINATION bin -) - -install(DIRECTORY include/ - DESTINATION include/ -) - -install(FILES scripts/lidar_completion.py - DESTINATION lib/${PROJECT_NAME}/ -) - -ament_package() diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors.hpp b/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors.hpp deleted file mode 100644 index 8992dec73..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors.hpp +++ /dev/null @@ -1,45 +0,0 @@ -// 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. - -#pragma once - -// rotation behavior -#include -#include -#include - -#include -#include -#include -#include -#include - -// nav2 synchronization behaviors -#include -#include -#include - -// others -#include -#include - -// waypoints behaviors -#include -#include -#include -#include - -// slam behaviors -#include -#include diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_abort_navigation.hpp b/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_abort_navigation.hpp deleted file mode 100644 index 096e18d79..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_abort_navigation.hpp +++ /dev/null @@ -1,48 +0,0 @@ -// 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 "cb_navigate_global_position.hpp" -#include "cb_nitrosz_client_behavior_base.hpp" -#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp" - -namespace cl_nitrosz -{ -class CbAbortNavigation : public smacc2::SmaccAsyncClientBehavior -{ -public: - CbAbortNavigation(); - - template - void onOrthogonalAllocation() - { - this->requiresClient(nitroszClient_); - smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation(); - } - - void onEntry() override; - void onExit() override; - -private: - cl_nitrosz::ClNitrosZ * nitroszClient_; -}; -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_absolute_rotate.hpp b/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_absolute_rotate.hpp deleted file mode 100644 index c9aa9cd9a..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_absolute_rotate.hpp +++ /dev/null @@ -1,51 +0,0 @@ -// 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 "cb_nitrosz_client_behavior_base.hpp" -#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp" - -namespace cl_nitrosz -{ -class CbAbsoluteRotate : public CbNav2ZClientBehaviorBase -{ -public: - std::shared_ptr listener; - - float absoluteGoalAngleDegree; - std::optional yawGoalTolerance; - std::optional maxVelTheta; // if not defined, default parameter server - std::optional spinningPlanner; - - CbAbsoluteRotate(); - CbAbsoluteRotate(float absoluteGoalAngleDegree, float yawGoalTolerance = -1); - - void onEntry() override; - void onExit() override; - -private: - void updateTemporalBehaviorParameters(bool undo); - float oldYawTolerance; - float oldMaxVelTheta; - float oldMinVelTheta; -}; -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_active_stop.hpp b/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_active_stop.hpp deleted file mode 100644 index e7729af2b..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_active_stop.hpp +++ /dev/null @@ -1,40 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -struct CbActiveStop : public smacc2::SmaccAsyncClientBehavior -{ -private: - rclcpp::Publisher::SharedPtr cmd_vel_pub_; - -public: - CbActiveStop(); - - void onEntry() override; - - void onExit() override; -}; -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_load_waypoints_file.hpp b/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_load_waypoints_file.hpp deleted file mode 100644 index 2a5917360..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_load_waypoints_file.hpp +++ /dev/null @@ -1,46 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -struct CbLoadWaypointsFile : public smacc2::SmaccAsyncClientBehavior -{ -public: - CbLoadWaypointsFile(std::string filepath); - - CbLoadWaypointsFile(std::string parameter_name, std::string packagenamespace); - - void onEntry() override; - - void onExit() override; - - std::optional filepath_; - - std::optional parameterName_; - std::optional packageNamespace_; - - cl_nitrosz::CpWaypointNavigatorBase * waypointsNavigator_; -}; -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_navigate_backwards.hpp b/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_navigate_backwards.hpp deleted file mode 100644 index baf61e4ed..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_navigate_backwards.hpp +++ /dev/null @@ -1,50 +0,0 @@ -// 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 "cb_nitrosz_client_behavior_base.hpp" - -namespace cl_nitrosz -{ -// It sends the mobile base some distance backwards -class CbNavigateBackwards : public CbNav2ZClientBehaviorBase -{ -public: - float backwardDistance; - - // just a stub to show how to use parameterless constructor - std::optional backwardSpeed; - - std::optional goalChecker_; - - cl_nitrosz::odom_tracker::CpOdomTracker * odomTracker_; - - CbNavigateBackwards(float backwardDistanceMeters); - - void onEntry() override; - - void onExit() override; -}; -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_navigate_forward.hpp b/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_navigate_forward.hpp deleted file mode 100644 index afb126ece..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_navigate_forward.hpp +++ /dev/null @@ -1,79 +0,0 @@ -// 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 -#include - -#include "cb_nitrosz_client_behavior_base.hpp" - -namespace cl_nitrosz -{ -struct CbNavigateForwardOptions -{ - // just a stub to show how to use parameterless constructor - std::optional forwardSpeed; - - // this may be useful in the case you want to do a straight line with some known direction - // and the robot may not have that specific initial orientation at that moment. - // If it is not set, the orientation of the straight line is the orientation of the initial (current) state. - std::optional forceInitialOrientation; - - // the name of the goal checker selected in the navigation2 stack - std::optional goalChecker_; -}; - -// Performs a relative motion forwards -class CbNavigateForward : public CbNav2ZClientBehaviorBase -{ -public: - CbNavigateForwardOptions options; - - CbNavigateForward(); - - CbNavigateForward(float forwardDistance); - - // alternative forward motion using an absolute goal position instead a relative linear distance. - // It is specially to retry a previous relative incorrect motions based on distance. - // The developer user is in charge of setting a valid goal position that is located forward - // from the current position and orientation. - CbNavigateForward(geometry_msgs::msg::PoseStamped goalPosition); - - virtual ~CbNavigateForward(); - - void onEntry() override; - - void onExit() override; - - void setForwardDistance(float distance_meters); - -protected: - // required component - odom_tracker::CpOdomTracker * odomTracker_; - - std::optional goalPose_; - - std::optional forwardDistance_; -}; -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_navigate_global_position.hpp b/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_navigate_global_position.hpp deleted file mode 100644 index c92d8f556..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_navigate_global_position.hpp +++ /dev/null @@ -1,68 +0,0 @@ -// 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 "cb_nitrosz_client_behavior_base.hpp" - -namespace cl_nitrosz -{ -struct CbNavigateGlobalPositionOptions -{ - // std::optional yawTolerance; - // std::optional yawToleranceX; - // std::optional yawToleranceY; - - std::optional goalChecker_; - - std::optional controllerName_; -}; - -class CbNavigateGlobalPosition : public CbNav2ZClientBehaviorBase -{ -public: - float goalYaw; - - CbNavigateGlobalPositionOptions options; - geometry_msgs::msg::Point goalPosition; - - CbNavigateGlobalPosition(); - - CbNavigateGlobalPosition( - float x, float y, float yaw /*radians*/, - std::optional options = std::nullopt); - - void setGoal(const geometry_msgs::msg::Pose & pose); - - virtual void onEntry() override; - - // This is the substate destructor. This code will be executed when the - // workflow exits from this substate (that is according to statechart the moment when this object is destroyed) - void onExit() override; - - // auxiliary function that defines the motion that is requested to the navigation2 action server - void execute(); - -private: - void readStartPoseFromParameterServer(ClNitrosZ::Goal & goal); -}; -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_navigate_named_waypoint.hpp b/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_navigate_named_waypoint.hpp deleted file mode 100644 index 141ad4840..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_navigate_named_waypoint.hpp +++ /dev/null @@ -1,45 +0,0 @@ -// 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 "cb_navigate_next_waypoint.hpp" -#include "cb_nitrosz_client_behavior_base.hpp" - -namespace cl_nitrosz -{ -class CbNavigateNamedWaypoint : public CbNavigateNextWaypoint -{ -public: - CbNavigateNamedWaypoint( - std::string waypointname, std::optional options = std::nullopt); - - virtual ~CbNavigateNamedWaypoint(); - - void onEntry() override; - - void onExit() override; - - CpWaypointNavigator * waypointsNavigator_; - - std::string waypointname_; -}; -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_navigate_next_waypoint.hpp b/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_navigate_next_waypoint.hpp deleted file mode 100644 index d2a82e874..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_navigate_next_waypoint.hpp +++ /dev/null @@ -1,47 +0,0 @@ -// 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 "cb_nitrosz_client_behavior_base.hpp" - -namespace cl_nitrosz -{ -class CbNavigateNextWaypoint : public CbNav2ZClientBehaviorBase -{ -public: - CbNavigateNextWaypoint(std::optional options = std::nullopt); - - virtual ~CbNavigateNextWaypoint(); - - void onEntry() override; - - void onExit() override; - -protected: - CpWaypointNavigator * waypointsNavigator_; - - NavigateNextWaypointOptions options_; - - cl_nitrosz::ClNitrosZ::SmaccNavigateResultSignal::SharedPtr navigationCallback_; -}; -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_navigate_next_waypoint_free.hpp b/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_navigate_next_waypoint_free.hpp deleted file mode 100644 index 50e156d76..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_navigate_next_waypoint_free.hpp +++ /dev/null @@ -1,44 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ - -class CbNavigateNextWaypointFree : public cl_nitrosz::CbPositionControlFreeSpace -{ -public: - CbNavigateNextWaypointFree(); - - virtual ~CbNavigateNextWaypointFree(); - - void onEntry() override; - - void onSucessCallback(); - - void onExit() override; - -protected: - cl_nitrosz::CpWaypointNavigatorBase * waypointsNavigator_; -}; - -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_navigate_next_waypoint_until_reached.hpp b/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_navigate_next_waypoint_until_reached.hpp deleted file mode 100644 index 48805d329..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_navigate_next_waypoint_until_reached.hpp +++ /dev/null @@ -1,103 +0,0 @@ -// 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 "cb_navigate_next_waypoint.hpp" - -namespace cl_nitrosz -{ -template -struct EvGoalWaypointReached : sc::event> -{ -}; - -class CbNavigateNextWaypointUntilReached : public CbNavigateNextWaypoint -{ -public: - CbNavigateNextWaypointUntilReached( - std::string goalWaypointName, - std::optional options = std::nullopt); - - virtual ~CbNavigateNextWaypointUntilReached(); - - template - void onOrthogonalAllocation() - { - this->requiresClient(nitroszClient_); - CbNavigateNextWaypoint::onOrthogonalAllocation(); - - postEvGoalWaypointReached_ = [this]() - { - this->postEvent>(); - - // nitroszClient_->onSucceeded(&CbNavigateNextWaypointUntilReached::onWaypointReached, this); - }; - } - - void onEntry() override; - - void onExit() override; - - void onNavigationActionSuccess(const ClNitrosZ::WrappedResult & r) override - { - // if (!isOwnActionResponse(r)) - // { - // RCLCPP_WARN( - // getLogger(), "[%s] Propagating success event skipped. Action response is not ours.", - // getName().c_str()); - // return; - // } - - navigationResult_ = r.code; - - RCLCPP_INFO( - getLogger(), "[%s] Propagating success event from action server", getName().c_str()); - - waypointsNavigator_ = nitroszClient_->getComponent(); - - auto current_waypoint_name = waypointsNavigator_->getCurrentWaypointName(); - - if (current_waypoint_name == this->goalWaypointName_) - { - RCLCPP_INFO( - getLogger(), - "[CbNavigateNextWaypointUntilReached] GoalReached current iteration waypoint i: %ld with " - "name '%s'", - waypointsNavigator_->getCurrentWaypointIndex(), current_waypoint_name->c_str()); - - this->postEvGoalWaypointReached_(); - } - else - { - RCLCPP_INFO( - getLogger(), - "[CbNavigateNextWaypointUntilReached] goal:'%s' current:'%s'. keep navigating.", - goalWaypointName_.c_str(), current_waypoint_name->c_str()); - } - - this->postSuccessEvent(); - } - -private: - std::string goalWaypointName_; - - std::function postEvGoalWaypointReached_; -}; -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_nitrosz_client_behavior_base.hpp b/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_nitrosz_client_behavior_base.hpp deleted file mode 100644 index 88233ea16..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_nitrosz_client_behavior_base.hpp +++ /dev/null @@ -1,67 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -class CbNav2ZClientBehaviorBase : public smacc2::SmaccAsyncClientBehavior -{ -public: - virtual ~CbNav2ZClientBehaviorBase(); - - template - void onOrthogonalAllocation() - { - this->requiresClient(nitroszClient_); - smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation(); - } - -protected: - void sendGoal(ClNitrosZ::Goal & goal); - - void cancelGoal(); - - // handling results according its type - bool isOwnActionResponse(const ClNitrosZ::WrappedResult &); - virtual void onNavigationResult(const ClNitrosZ::WrappedResult &); - virtual void onNavigationActionSuccess(const ClNitrosZ::WrappedResult &); - virtual void onNavigationActionAbort(const ClNitrosZ::WrappedResult &); - - cl_nitrosz::ClNitrosZ * nitroszClient_; - cl_nitrosz::ClNitrosZ::SmaccNavigateResultSignal::SharedPtr navigationCallback_; - - // deprecated - rclcpp_action::ResultCode navigationResult_; - std::shared_future< - std::shared_ptr > > - goalHandleFuture_; -}; - -enum class SpinningPlanner -{ - Default, - PureSpinning, - Forward -}; -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_pause_slam.hpp b/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_pause_slam.hpp deleted file mode 100644 index 5d80f9d60..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_pause_slam.hpp +++ /dev/null @@ -1,37 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -class CbPauseSlam : public smacc2::client_behaviors::CbServiceCall -{ -public: - CbPauseSlam(std::string serviceName = "/slam_toolbox/pause_new_measurements"); - void onEntry() override; - -protected: - CpSlamToolbox * slam_; -}; -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_position_control_free_space.hpp b/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_position_control_free_space.hpp deleted file mode 100644 index d6b23e1a6..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_position_control_free_space.hpp +++ /dev/null @@ -1,64 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -struct CbPositionControlFreeSpace : public smacc2::SmaccAsyncClientBehavior -{ -private: - double targetYaw_; - bool goalReached_; - double k_betta_; - double max_angular_yaw_speed_; - - double prev_error_linear_ = 0.0; - double prev_error_angular_ = 0.0; - double integral_linear_ = 0.0; - double integral_angular_ = 0.0; - - // Limit the maximum linear velocity and angular velocity to avoid sudden - // movements - double max_linear_velocity = 1.0; // Adjust this value according to your needs - double max_angular_velocity = 1.0; // Adjust this value according to your needs - - rclcpp::Publisher::SharedPtr cmd_vel_pub_; - -public: - double yaw_goal_tolerance_rads_ = 0.1; - - double threshold_distance_ = 3.0; - - geometry_msgs::msg::Pose target_pose_; - - CbPositionControlFreeSpace(); - - void updateParameters(); - - void onEntry() override; - - void onExit() override; -}; -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_pure_spinning.hpp b/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_pure_spinning.hpp deleted file mode 100644 index aaf3db7d5..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_pure_spinning.hpp +++ /dev/null @@ -1,48 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -struct CbPureSpinning : public smacc2::SmaccAsyncClientBehavior -{ -private: - double targetYaw__rads; - bool goalReached_; - double k_betta_; - double max_angular_yaw_speed_; - - rclcpp::Publisher::SharedPtr cmd_vel_pub_; - -public: - double yaw_goal_tolerance_rads_; - - CbPureSpinning(double targetYaw_rads, double max_angular_yaw_speed = 0.5); - void updateParameters(); - - void onEntry() override; - - void onExit() override; -}; -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_resume_slam.hpp b/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_resume_slam.hpp deleted file mode 100644 index c823e8ad7..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_resume_slam.hpp +++ /dev/null @@ -1,37 +0,0 @@ -// 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 "nitrosz_client/components/slam_toolbox/cp_slam_toolbox.hpp" -#include "smacc2/client_behaviors/cb_call_service.hpp" - -namespace cl_nitrosz -{ -class CbResumeSlam : public smacc2::client_behaviors::CbServiceCall -{ -public: - CbResumeSlam(std::string serviceName = "/slam_toolbox/pause_new_measurements"); - void onEntry() override; - -protected: - CpSlamToolbox * slam_; -}; -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_retry_behavior.hpp b/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_retry_behavior.hpp deleted file mode 100644 index c91ca5c85..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_retry_behavior.hpp +++ /dev/null @@ -1,51 +0,0 @@ -// 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 "cb_nitrosz_client_behavior_base.hpp" - -namespace cl_nitrosz -{ -using odom_tracker::CpOdomTracker; - -template -class CbRetry : public TCbRelativeMotion -{ -public: - CbRetry() {} - void onEntry() override - { - odomTracker_ = this->nitroszClient_->template getComponent(); - auto goal = odomTracker_->getCurrentMotionGoal(); - - if (goal) - { - this->goalPose_ = *goal; - } - - TCbRelativeMotion::onEntry(); - } - -private: - CpOdomTracker * odomTracker_; -}; -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_rotate.hpp b/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_rotate.hpp deleted file mode 100644 index de97c033d..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_rotate.hpp +++ /dev/null @@ -1,47 +0,0 @@ -// 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 "cb_nitrosz_client_behavior_base.hpp" - -namespace cl_nitrosz -{ -class CbRotate : public CbNav2ZClientBehaviorBase -{ -public: - float rotateDegree; - - std::optional goalChecker_; - - std::optional spinningPlanner; - - CbRotate(float rotate_degree); - - CbRotate(float rotate_degree, cl_nitrosz::SpinningPlanner spinning_planner); - - void onEntry() override; - -private: - //TODO: replace this with the Pose Component in the same way it is done in the CbAbsoluteRotateBehavior - std::shared_ptr listener; -}; -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_rotate_look_at.hpp b/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_rotate_look_at.hpp deleted file mode 100644 index d6a1ec5e0..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_rotate_look_at.hpp +++ /dev/null @@ -1,43 +0,0 @@ -// 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 "cb_absolute_rotate.hpp" -#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp" - -namespace cl_nitrosz -{ -class CbRotateLookAt : public CbAbsoluteRotate -{ -public: - std::shared_ptr listener; - - std::optional lookAtPose_; - - CbRotateLookAt(); - CbRotateLookAt(const geometry_msgs::msg::PoseStamped & lookAtPose); - - void onEntry() override; - // void onExit() override; -}; -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_save_slam_map.hpp b/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_save_slam_map.hpp deleted file mode 100644 index 6272aacf4..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_save_slam_map.hpp +++ /dev/null @@ -1,46 +0,0 @@ -// 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_nitrosz -{ -using namespace std::chrono_literals; -template -using CbServiceCall = smacc2::client_behaviors::CbServiceCall; - -struct CbSaveSlamMap : public CbServiceCall -{ -public: - CbSaveSlamMap(); - // void onEntry() override {} - - void onExit() override; - - std::shared_ptr getRequest( - /*slam_toolbox::srv::SaveMap_Request_ >::_name_type saved_map_name*/); -}; -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_seek_waypoint.hpp b/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_seek_waypoint.hpp deleted file mode 100644 index fb2d1d4ab..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_seek_waypoint.hpp +++ /dev/null @@ -1,48 +0,0 @@ -// 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 "cb_nitrosz_client_behavior_base.hpp" - -namespace cl_nitrosz -{ -class CbSeekWaypoint : public smacc2::ISmaccClientBehavior -{ -public: - CbSeekWaypoint(std::string skip_until_name); - - virtual ~CbSeekWaypoint(); - - void onEntry() override; - - void onExit() override; - - CpWaypointNavigator * waypointsNavigator_; - - NavigateNextWaypointOptions options_; - -private: - std::optional count_; - std::optional seekWaypointName_; -}; -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_stop_navigation.hpp b/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_stop_navigation.hpp deleted file mode 100644 index 74746aae5..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_stop_navigation.hpp +++ /dev/null @@ -1,38 +0,0 @@ -// 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 "cb_navigate_global_position.hpp" -#include "cb_nitrosz_client_behavior_base.hpp" -#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp" - -namespace cl_nitrosz -{ -class CbStopNavigation : public CbNavigateGlobalPosition -{ -public: - CbStopNavigation(); - - void onEntry() override; - void onExit() override; -}; -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_undo_path_backwards.hpp b/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_undo_path_backwards.hpp deleted file mode 100644 index 9864a9d4b..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_undo_path_backwards.hpp +++ /dev/null @@ -1,56 +0,0 @@ -// 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 "cb_nitrosz_client_behavior_base.hpp" - -namespace cl_nitrosz -{ -using ::cl_nitrosz::odom_tracker::CpOdomTracker; - -struct CbUndoPathBackwardsOptions -{ - // the name of the goal checker selected in the navigation2 stack - std::optional goalCheckerId_; - - // the name of the goal checker selected in the navigation2 stack - std::optional undoControllerName_; -}; - -class CbUndoPathBackwards : public CbNav2ZClientBehaviorBase -{ -public: - CbUndoPathBackwards(std::optional options = std::nullopt); - - void onEntry() override; - - void onExit() override; - -private: - std::shared_ptr listener; - - CpOdomTracker * odomTracker; - - std::optional options_; -}; -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_wait_nitros_nodes.hpp b/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_wait_nitros_nodes.hpp deleted file mode 100644 index cee17bc59..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_wait_nitros_nodes.hpp +++ /dev/null @@ -1,67 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -enum class Nav2Nodes -{ - PlannerServer, - ControllerServer, - RecoveriesServer, - BtNavigator, - MapServer, - None -}; - -std::string toString(Nav2Nodes value); - -Nav2Nodes fromString(std::string str); - -class CbWaitNav2Nodes : public smacc2::SmaccAsyncClientBehavior -{ -public: - CbWaitNav2Nodes( - std::string topicname, - std::vector waitNodes = { - Nav2Nodes::PlannerServer, Nav2Nodes::ControllerServer, Nav2Nodes::BtNavigator}); - - CbWaitNav2Nodes( - std::vector waitNodes = { - Nav2Nodes::PlannerServer, Nav2Nodes::ControllerServer, Nav2Nodes::BtNavigator}); - - void onEntry() override; - -private: - void onMessageReceived(const bond::msg::Status & msg); - - std::string topicname_; - - rclcpp::Subscription::SharedPtr sub_; - std::map receivedAliveMsg_; - - std::vector waitNodes_; -}; -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_wait_pose.hpp b/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_wait_pose.hpp deleted file mode 100644 index 4116d8be2..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_wait_pose.hpp +++ /dev/null @@ -1,59 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -// waits a robot pose message. Usually used for the startup synchronization. -enum class WaitPoseStandardReferenceFrame -{ - Map, - Odometry -}; - -// Waits a new pose using the Pose Component -// the specific pose to wait is configured in that component -class CbWaitPose : public smacc2::SmaccAsyncClientBehavior -{ -public: - // waits a new pose update of the Pose Component - CbWaitPose(); - - // waits a new pose update of the Pose Component in some reference frame (if there is no connection it will wait) - CbWaitPose(WaitPoseStandardReferenceFrame frame); - - virtual ~CbWaitPose(); - - template - void onOrthogonalAllocation() - { - this->requiresClient(nitroszClient_); - smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation(); - } - - void onEntry() override; - -protected: - cl_nitrosz::ClNitrosZ * nitroszClient_; -}; -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_wait_transform.hpp b/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_wait_transform.hpp deleted file mode 100644 index f5b1e06cc..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_wait_transform.hpp +++ /dev/null @@ -1,60 +0,0 @@ -// 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 -#include -#include - -namespace cl_nitrosz -{ -class CbWaitTransform : public smacc2::SmaccAsyncClientBehavior -{ -public: - CbWaitTransform(std::string targetFrame, std::string referenceFrame, rclcpp::Duration timeout); - - virtual ~CbWaitTransform(); - - template - void onOrthogonalAllocation() - { - smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation(); - } - - void onEntry() override; - -protected: - // shared static listener - std::shared_ptr tfBuffer_; - std::shared_ptr tfListener_; - - std::string targetFrame_; - std::string referenceFrame_; - rclcpp::Duration timeout_; - - std::optional> result_; -}; -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/common.hpp b/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/common.hpp deleted file mode 100644 index 0bf226e66..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/common.hpp +++ /dev/null @@ -1,34 +0,0 @@ -// 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. - -#pragma once - -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include - -std::ostream & operator<<(std::ostream & out, const geometry_msgs::msg::Quaternion & msg); -std::ostream & operator<<(std::ostream & out, const geometry_msgs::msg::Pose & msg); -std::ostream & operator<<(std::ostream & out, const geometry_msgs::msg::Point & msg); -std::ostream & operator<<(std::ostream & out, const geometry_msgs::msg::PoseStamped & msg); -std::ostream & operator<<(std::ostream & out, const nav2_msgs::action::NavigateToPose::Goal & msg); -std::ostream & operator<<(std::ostream & out, const builtin_interfaces::msg::Time & msg); diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/components/amcl/cp_amcl.hpp b/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/components/amcl/cp_amcl.hpp deleted file mode 100644 index 6c4ce9873..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/components/amcl/cp_amcl.hpp +++ /dev/null @@ -1,43 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -class CpAmcl : public smacc2::ISmaccComponent -{ -public: - CpAmcl(); - virtual ~CpAmcl(); - - std::string getName() const override; - - void onInitialize() override; - - void setInitialPose(const geometry_msgs::msg::PoseWithCovarianceStamped & initialpose); - -private: - rclcpp::Publisher::SharedPtr initalPosePub_; -}; - -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/components/costmap_switch/cp_costmap_switch.hpp b/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/components/costmap_switch/cp_costmap_switch.hpp deleted file mode 100644 index b6b5e30d3..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/components/costmap_switch/cp_costmap_switch.hpp +++ /dev/null @@ -1,92 +0,0 @@ -// 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 - -#include - -#include -#include - -// #include -// #include -// #include - -namespace cl_nitrosz -{ -class CpCostmapProxy; - -class CpCostmapSwitch : public smacc2::ISmaccComponent -{ -public: - enum class StandardLayers - { - GLOBAL_OBSTACLES_LAYER = 0, - LOCAL_OBSTACLES_LAYER = 1, - GLOBAL_INFLATED_LAYER = 2, - LOCAL_INFLATED_LAYER = 3 - }; - - static std::array layerNames; - - CpCostmapSwitch(); - - void onInitialize() override; - - static std::string getStandardCostmapName(StandardLayers layertype); - - bool exists(std::string layerName); - - void enable(std::string layerName); - - void enable(StandardLayers layerType); - - void disable(std::string layerName); - - void disable(StandardLayers layerType); - - void registerProxyFromDynamicReconfigureServer( - std::string costmapName, std::string enablePropertyName = "enabled"); - -private: - std::map> costmapProxies; - cl_nitrosz::ClNitrosZ * nitroszClient_; -}; -//------------------------------------------------------------------------- -class CpCostmapProxy -{ -public: - CpCostmapProxy( - std::string costmap_name, std::string enablePropertyName, rclcpp::Node::SharedPtr nh); - - void setCostmapEnabled(bool value); - -private: - std::string costmapName_; - rclcpp::Node::SharedPtr nh_; - - inline rclcpp::Node::SharedPtr getNode() { return nh_; } -}; -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/components/goal_checker_switcher/cp_goal_checker_switcher.hpp b/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/components/goal_checker_switcher/cp_goal_checker_switcher.hpp deleted file mode 100644 index 63baf8281..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/components/goal_checker_switcher/cp_goal_checker_switcher.hpp +++ /dev/null @@ -1,47 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -// this class is used to switch the current goal checker of the remote navigation2 stack controller -class CpGoalCheckerSwitcher : public smacc2::ISmaccComponent -{ -public: - CpGoalCheckerSwitcher( - std::string goal_checker_selector_topic = "goal_checker_selector", - std::string default_goal_checker_name = "goal_checker"); - void onInitialize() override; - virtual ~CpGoalCheckerSwitcher(); - void setDefaultGoalChecker(); - void setGoalCheckerId(std::string goal_checker_id); - -private: - std::string goal_checker_selector_topic_; - std::string default_goal_checker_name_; - rclcpp::Publisher::SharedPtr goal_checker_selector_pub_; -}; -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/components/odom_tracker/cp_odom_tracker.hpp b/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/components/odom_tracker/cp_odom_tracker.hpp deleted file mode 100644 index c00959f69..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/components/odom_tracker/cp_odom_tracker.hpp +++ /dev/null @@ -1,189 +0,0 @@ -// 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 -#include -#include - -#include -#include -#include -#include -#include - -#include - -namespace cl_nitrosz -{ -namespace odom_tracker -{ -enum class WorkingMode : uint8_t -{ - RECORD_PATH = 0, - CLEAR_PATH = 1, - IDLE = 2 -}; - -/// This object tracks and saves the trajectories performed by the vehicle -/// so that they can be used later to execute operations such as "undo motions" -class CpOdomTracker : public smacc2::ISmaccComponent -{ -public: - // by default, the component start in record_path mode and publishing the - // current path - CpOdomTracker(std::string odomtopicName = "/odom", std::string odomFrame = "odom"); - - // threadsafe - /// odom callback: Updates the path - this must be called periodically for each odometry message. - // The odom parameters is the main input of this tracker - virtual void processOdometryMessage(const nav_msgs::msg::Odometry::SharedPtr odom); - - // ------ CONTROL COMMANDS --------------------- - // threadsafe - void setWorkingMode(WorkingMode workingMode); - - // threadsafe - void setPublishMessages(bool value); - - // threadsafe - void pushPath(); - - // threadsafe - void pushPath(std::string pathname); - - // threadsafe - void popPath(int pathCount = 1, bool keepPreviousPath = false); - - // threadsafe - void clearPath(); - - // threadsafe - void setStartPoint(const geometry_msgs::msg::PoseStamped & pose); - - // threadsafe - void setStartPoint(const geometry_msgs::msg::Pose & pose); - - // threadsafe - use only for recording mode, it is reset always a new path is pushed, popped or cleared - void setCurrentMotionGoal(const geometry_msgs::msg::PoseStamped & pose); - - void setCurrentPathName(const std::string & currentPathName); - - // threadsafe - std::optional getCurrentMotionGoal(); - - // threadsafe - nav_msgs::msg::Path getPath(); - - void logStateString(bool debug = true); - -protected: - void onInitialize() override; - - void updateConfiguration(); - - virtual void rtPublishPaths(rclcpp::Time timestamp); - - // this is called when a new odom message is received in record path mode - virtual bool updateRecordPath(const nav_msgs::msg::Odometry & odom); - - // this is called when a new odom message is received in clear path mode - virtual bool updateClearPath(const nav_msgs::msg::Odometry & odom); - - void updateAggregatedStackPath(); - - // -------------- OUTPUTS --------------------- - rclcpp::Publisher::SharedPtr robotBasePathPub_; - rclcpp::Publisher::SharedPtr robotBasePathStackedPub_; - - // --------------- INPUTS ------------------------ - // optional, this class can be used directly calling the odomProcessing method - // without any subscriber - rclcpp::Subscription::SharedPtr odomSub_; - - // -------------- PARAMETERS ---------------------- - /// How much distance there is between two points of the path - double recordPointDistanceThreshold_; - - /// Meters - double recordAngularDistanceThreshold_; - - /// rads - double clearPointDistanceThreshold_; - - /// rads - double clearAngularDistanceThreshold_; - - std::string odomFrame_; - - std::string odomTopicName_; - - // --------------- STATE --------------- - // default true - bool publishMessages; - - /// Processed path for the mouth of the reel - nav_msgs::msg::Path baseTrajectory_; - - WorkingMode workingMode_; - - std::vector pathStack_; - - struct PathInfo - { - std::string name; - std::optional goalPose; - }; - - std::vector pathInfos_; - - nav_msgs::msg::Path aggregatedStackPathMsg_; - - // subscribes to topic on init if true - bool subscribeToOdometryTopic_; - - std::optional currentMotionGoal_; - std::string currentPathName_; - - std::mutex m_mutex_; -}; - -/** - ****************************************************************************************************************** - * p2pDistance() - ****************************************************************************************************************** - */ -inline double p2pDistance( - const geometry_msgs::msg::Point & p1, const geometry_msgs::msg::Point & p2) -{ - double dx = (p1.x - p2.x); - double dy = (p1.y - p2.y); - double dz = (p2.z - p2.z); - double dist = sqrt(dx * dx + dy * dy + dz * dz); - return dist; -} -} // namespace odom_tracker -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/components/planner_switcher/cp_planner_switcher.hpp b/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/components/planner_switcher/cp_planner_switcher.hpp deleted file mode 100644 index 44fa37163..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/components/planner_switcher/cp_planner_switcher.hpp +++ /dev/null @@ -1,70 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -// this component is used to switch the current planner and controller interacting -// with the remote navigation2 stack nodes (bt_navigator, planner_server, controller_server) -class CpPlannerSwitcher : public smacc2::ISmaccComponent -{ -public: - CpPlannerSwitcher(); - - void onInitialize() override; - - void setDesiredGlobalPlanner(std::string); - - void setDesiredController(std::string); - - void commitPublish(); - - // STANDARD PLANNERS - - void setBackwardPlanner(bool commit = true); - - void setUndoPathBackwardPlanner(bool commit = true); - - void setForwardPlanner(bool commit = true); - - void setPureSpinningPlanner(bool commit = true); - - // sets ROS defaults local and global planners - void setDefaultPlanners(bool commit = true); - -private: - std::string desired_planner_; - - std::string desired_controller_; - - bool set_planners_mode_flag_; - - rclcpp::Publisher::SharedPtr planner_selector_pub_; - - rclcpp::Publisher::SharedPtr controller_selector_pub_; - - rclcpp::Publisher::SharedPtr goal_checker_selector_pub_; -}; -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/components/pose/cp_pose.hpp b/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/components/pose/cp_pose.hpp deleted file mode 100644 index 55a1a495d..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/components/pose/cp_pose.hpp +++ /dev/null @@ -1,95 +0,0 @@ -// 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. - -/***************************************************************************************************************** - *-2020 - * Authors: Pablo Inigo Blasco, Brett Aldrich - * - ******************************************************************************************************************/ -#pragma once - -#include - -#include -#include -#include -#include -#include -#include -#include - -#include -#include - -namespace cl_nitrosz -{ -enum class StandardReferenceFrames -{ - Map, - Odometry -}; - -class Pose : public smacc2::ISmaccComponent, public smacc2::ISmaccUpdatable -{ -public: - Pose(std::string poseFrameName = "base_link", std::string referenceFrame = "odom"); - - Pose(StandardReferenceFrames referenceFrame); - - void onInitialize() override; - - void update() override; - - // synchronously waits a transform in the current thread - void waitTransformUpdate(rclcpp::Rate r = rclcpp::Rate(20)); - - inline geometry_msgs::msg::Pose toPoseMsg() - { - std::lock_guard guard(m_mutex_); - return this->pose_.pose; - } - - inline geometry_msgs::msg::PoseStamped toPoseStampedMsg() - { - std::lock_guard guard(m_mutex_); - return this->pose_; - } - - // get yaw in radians - float getYaw(); - - float getX(); - float getY(); - float getZ(); - - inline const std::string & getReferenceFrame() const { return referenceFrame_; } - - inline const std::string & getFrameId() const { return poseFrameName_; } - - bool isInitialized; - -private: - geometry_msgs::msg::PoseStamped pose_; - - static std::shared_ptr tfBuffer_; - static std::shared_ptr tfListener_; - - static std::mutex listenerMutex_; - - std::string poseFrameName_; - std::string referenceFrame_; - - std::mutex m_mutex_; -}; -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/components/slam_toolbox/cp_slam_toolbox.hpp b/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/components/slam_toolbox/cp_slam_toolbox.hpp deleted file mode 100644 index 8f802cbf9..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/components/slam_toolbox/cp_slam_toolbox.hpp +++ /dev/null @@ -1,50 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -// stores the state of the last modification of the slam node -// (blind - open loop solution because the node does not provide that information) -class CpSlamToolbox : public smacc2::ISmaccComponent -{ -public: - CpSlamToolbox(); - virtual ~CpSlamToolbox(); - - enum class SlamToolboxState - { - Resumed, - Paused - }; - - inline SlamToolboxState getState() { return state_; } - - void toogleState(); - -private: - SlamToolboxState state_; -}; -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/components/waypoints_navigator/cp_waypoints_event_dispatcher.hpp b/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/components/waypoints_navigator/cp_waypoints_event_dispatcher.hpp deleted file mode 100644 index ba5134a23..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/components/waypoints_navigator/cp_waypoints_event_dispatcher.hpp +++ /dev/null @@ -1,1864 +0,0 @@ -// 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 - -namespace cl_nitrosz - -/// @cond -// The purpose of the cond and endcond tags seen above and below in this file are there to prevent doxygen from indexing the 256 events -// below which makes the documentation produced unuseable. - -{ -template -struct EvWaypoint0 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint1 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint2 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint3 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint4 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint5 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint6 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint7 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint8 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint9 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint10 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint11 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint12 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint13 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint14 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint15 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint16 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint17 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint18 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint19 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint20 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint21 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint22 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint23 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint24 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint25 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint26 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint27 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint28 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint29 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint30 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint31 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint32 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint33 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint34 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint35 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint36 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint37 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint38 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint39 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint40 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint41 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint42 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint43 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint44 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint45 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint46 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint47 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint48 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint49 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint50 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint51 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint52 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint53 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint54 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint55 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint56 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint57 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint58 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint59 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint60 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint61 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint62 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint63 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint64 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint65 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint66 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint67 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint68 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint69 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint70 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint71 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint72 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint73 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint74 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint75 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint76 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint77 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint78 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint79 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint80 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint81 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint82 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint83 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint84 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint85 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint86 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint87 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint88 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint89 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint90 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint91 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint92 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint93 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint94 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint95 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint96 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint97 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint98 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint99 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint100 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint101 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint102 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint103 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint104 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint105 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint106 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint107 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint108 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint109 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint110 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint111 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint112 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint113 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint114 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint115 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint116 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint117 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint118 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint119 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint120 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint121 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint122 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint123 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint124 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint125 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint126 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint127 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint128 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint129 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint130 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint131 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint132 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint133 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint134 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint135 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint136 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint137 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint138 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint139 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint140 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint141 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint142 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint143 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint144 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint145 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint146 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint147 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint148 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint149 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint150 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint151 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint152 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint153 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint154 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint155 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint156 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint157 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint158 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint159 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint160 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint161 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint162 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint163 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint164 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint165 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint166 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint167 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint168 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint169 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint170 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint171 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint172 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint173 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint174 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint175 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint176 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint177 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint178 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint179 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint180 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint181 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint182 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint183 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint184 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint185 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint186 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint187 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint188 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint189 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint190 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint191 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint192 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint193 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint194 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint195 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint196 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint197 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint198 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint199 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint200 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint201 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint202 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint203 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint204 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint205 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint206 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint207 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint208 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint209 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint210 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint211 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint212 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint213 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint214 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint215 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint216 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint217 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint218 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint219 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint220 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint221 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint222 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint223 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint224 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint225 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint226 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint227 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint228 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint229 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint230 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint231 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint232 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint233 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint234 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint235 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint236 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint237 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint238 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint239 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint240 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint241 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint242 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint243 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint244 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint245 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint246 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint247 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint248 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint249 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint250 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint251 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint252 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint253 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint254 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint255 : sc::event> -{ - int waypointIndex; -}; - -template -struct EvWaypoint256 : sc::event> -{ - int waypointIndex; -}; - -// Doxygen endcond tag -/// @endcond - -class ClNitrosZ; - -#define WAYPOINTS_EVENTCOUNT 257 - -class WaypointEventDispatcher -{ - std::function postWaypointFn[WAYPOINTS_EVENTCOUNT]; - -public: - template - void initialize(ClNitrosZ * client); - - void postWaypointEvent(int index); -}; - -template -void configurePostEvWaypoint(std::function * fntarget, ClNitrosZ * client, int index) -{ - fntarget[index] = [=]() { client->template postEvent(); }; -} - -template -void WaypointEventDispatcher::initialize(ClNitrosZ * client) -{ - // Doygen cond tag - /// @cond - configurePostEvWaypoint>(postWaypointFn, client, 0); - configurePostEvWaypoint>(postWaypointFn, client, 1); - configurePostEvWaypoint>(postWaypointFn, client, 2); - configurePostEvWaypoint>(postWaypointFn, client, 3); - configurePostEvWaypoint>(postWaypointFn, client, 4); - configurePostEvWaypoint>(postWaypointFn, client, 5); - configurePostEvWaypoint>(postWaypointFn, client, 6); - configurePostEvWaypoint>(postWaypointFn, client, 7); - configurePostEvWaypoint>(postWaypointFn, client, 8); - configurePostEvWaypoint>(postWaypointFn, client, 9); - configurePostEvWaypoint>(postWaypointFn, client, 10); - configurePostEvWaypoint>(postWaypointFn, client, 11); - configurePostEvWaypoint>(postWaypointFn, client, 12); - configurePostEvWaypoint>(postWaypointFn, client, 13); - configurePostEvWaypoint>(postWaypointFn, client, 14); - configurePostEvWaypoint>(postWaypointFn, client, 15); - configurePostEvWaypoint>(postWaypointFn, client, 16); - configurePostEvWaypoint>(postWaypointFn, client, 17); - configurePostEvWaypoint>(postWaypointFn, client, 18); - configurePostEvWaypoint>(postWaypointFn, client, 19); - configurePostEvWaypoint>(postWaypointFn, client, 20); - configurePostEvWaypoint>(postWaypointFn, client, 21); - configurePostEvWaypoint>(postWaypointFn, client, 22); - configurePostEvWaypoint>(postWaypointFn, client, 23); - configurePostEvWaypoint>(postWaypointFn, client, 24); - configurePostEvWaypoint>(postWaypointFn, client, 25); - configurePostEvWaypoint>(postWaypointFn, client, 26); - configurePostEvWaypoint>(postWaypointFn, client, 27); - configurePostEvWaypoint>(postWaypointFn, client, 28); - configurePostEvWaypoint>(postWaypointFn, client, 29); - configurePostEvWaypoint>(postWaypointFn, client, 30); - configurePostEvWaypoint>(postWaypointFn, client, 31); - configurePostEvWaypoint>(postWaypointFn, client, 32); - configurePostEvWaypoint>(postWaypointFn, client, 33); - configurePostEvWaypoint>(postWaypointFn, client, 34); - configurePostEvWaypoint>(postWaypointFn, client, 35); - configurePostEvWaypoint>(postWaypointFn, client, 36); - configurePostEvWaypoint>(postWaypointFn, client, 37); - configurePostEvWaypoint>(postWaypointFn, client, 38); - configurePostEvWaypoint>(postWaypointFn, client, 39); - configurePostEvWaypoint>(postWaypointFn, client, 40); - configurePostEvWaypoint>(postWaypointFn, client, 41); - configurePostEvWaypoint>(postWaypointFn, client, 42); - configurePostEvWaypoint>(postWaypointFn, client, 43); - configurePostEvWaypoint>(postWaypointFn, client, 44); - configurePostEvWaypoint>(postWaypointFn, client, 45); - configurePostEvWaypoint>(postWaypointFn, client, 46); - configurePostEvWaypoint>(postWaypointFn, client, 47); - configurePostEvWaypoint>(postWaypointFn, client, 48); - configurePostEvWaypoint>(postWaypointFn, client, 49); - configurePostEvWaypoint>(postWaypointFn, client, 50); - configurePostEvWaypoint>(postWaypointFn, client, 51); - configurePostEvWaypoint>(postWaypointFn, client, 52); - configurePostEvWaypoint>(postWaypointFn, client, 53); - configurePostEvWaypoint>(postWaypointFn, client, 54); - configurePostEvWaypoint>(postWaypointFn, client, 55); - configurePostEvWaypoint>(postWaypointFn, client, 56); - configurePostEvWaypoint>(postWaypointFn, client, 57); - configurePostEvWaypoint>(postWaypointFn, client, 58); - configurePostEvWaypoint>(postWaypointFn, client, 59); - configurePostEvWaypoint>(postWaypointFn, client, 60); - configurePostEvWaypoint>(postWaypointFn, client, 61); - configurePostEvWaypoint>(postWaypointFn, client, 62); - configurePostEvWaypoint>(postWaypointFn, client, 63); - configurePostEvWaypoint>(postWaypointFn, client, 64); - configurePostEvWaypoint>(postWaypointFn, client, 65); - configurePostEvWaypoint>(postWaypointFn, client, 66); - configurePostEvWaypoint>(postWaypointFn, client, 67); - configurePostEvWaypoint>(postWaypointFn, client, 68); - configurePostEvWaypoint>(postWaypointFn, client, 69); - configurePostEvWaypoint>(postWaypointFn, client, 70); - configurePostEvWaypoint>(postWaypointFn, client, 71); - configurePostEvWaypoint>(postWaypointFn, client, 72); - configurePostEvWaypoint>(postWaypointFn, client, 73); - configurePostEvWaypoint>(postWaypointFn, client, 74); - configurePostEvWaypoint>(postWaypointFn, client, 75); - configurePostEvWaypoint>(postWaypointFn, client, 76); - configurePostEvWaypoint>(postWaypointFn, client, 77); - configurePostEvWaypoint>(postWaypointFn, client, 78); - configurePostEvWaypoint>(postWaypointFn, client, 79); - configurePostEvWaypoint>(postWaypointFn, client, 80); - configurePostEvWaypoint>(postWaypointFn, client, 81); - configurePostEvWaypoint>(postWaypointFn, client, 82); - configurePostEvWaypoint>(postWaypointFn, client, 83); - configurePostEvWaypoint>(postWaypointFn, client, 84); - configurePostEvWaypoint>(postWaypointFn, client, 85); - configurePostEvWaypoint>(postWaypointFn, client, 86); - configurePostEvWaypoint>(postWaypointFn, client, 87); - configurePostEvWaypoint>(postWaypointFn, client, 88); - configurePostEvWaypoint>(postWaypointFn, client, 89); - configurePostEvWaypoint>(postWaypointFn, client, 90); - configurePostEvWaypoint>(postWaypointFn, client, 91); - configurePostEvWaypoint>(postWaypointFn, client, 92); - configurePostEvWaypoint>(postWaypointFn, client, 93); - configurePostEvWaypoint>(postWaypointFn, client, 94); - configurePostEvWaypoint>(postWaypointFn, client, 95); - configurePostEvWaypoint>(postWaypointFn, client, 96); - configurePostEvWaypoint>(postWaypointFn, client, 97); - configurePostEvWaypoint>(postWaypointFn, client, 98); - configurePostEvWaypoint>(postWaypointFn, client, 99); - configurePostEvWaypoint>(postWaypointFn, client, 100); - configurePostEvWaypoint>(postWaypointFn, client, 101); - configurePostEvWaypoint>(postWaypointFn, client, 102); - configurePostEvWaypoint>(postWaypointFn, client, 103); - configurePostEvWaypoint>(postWaypointFn, client, 104); - configurePostEvWaypoint>(postWaypointFn, client, 105); - configurePostEvWaypoint>(postWaypointFn, client, 106); - configurePostEvWaypoint>(postWaypointFn, client, 107); - configurePostEvWaypoint>(postWaypointFn, client, 108); - configurePostEvWaypoint>(postWaypointFn, client, 109); - configurePostEvWaypoint>(postWaypointFn, client, 110); - configurePostEvWaypoint>(postWaypointFn, client, 111); - configurePostEvWaypoint>(postWaypointFn, client, 112); - configurePostEvWaypoint>(postWaypointFn, client, 113); - configurePostEvWaypoint>(postWaypointFn, client, 114); - configurePostEvWaypoint>(postWaypointFn, client, 115); - configurePostEvWaypoint>(postWaypointFn, client, 116); - configurePostEvWaypoint>(postWaypointFn, client, 117); - configurePostEvWaypoint>(postWaypointFn, client, 118); - configurePostEvWaypoint>(postWaypointFn, client, 119); - configurePostEvWaypoint>(postWaypointFn, client, 120); - configurePostEvWaypoint>(postWaypointFn, client, 121); - configurePostEvWaypoint>(postWaypointFn, client, 122); - configurePostEvWaypoint>(postWaypointFn, client, 123); - configurePostEvWaypoint>(postWaypointFn, client, 124); - configurePostEvWaypoint>(postWaypointFn, client, 125); - configurePostEvWaypoint>(postWaypointFn, client, 126); - configurePostEvWaypoint>(postWaypointFn, client, 127); - configurePostEvWaypoint>(postWaypointFn, client, 128); - configurePostEvWaypoint>(postWaypointFn, client, 129); - configurePostEvWaypoint>(postWaypointFn, client, 130); - configurePostEvWaypoint>(postWaypointFn, client, 131); - configurePostEvWaypoint>(postWaypointFn, client, 132); - configurePostEvWaypoint>(postWaypointFn, client, 133); - configurePostEvWaypoint>(postWaypointFn, client, 134); - configurePostEvWaypoint>(postWaypointFn, client, 135); - configurePostEvWaypoint>(postWaypointFn, client, 136); - configurePostEvWaypoint>(postWaypointFn, client, 137); - configurePostEvWaypoint>(postWaypointFn, client, 138); - configurePostEvWaypoint>(postWaypointFn, client, 139); - configurePostEvWaypoint>(postWaypointFn, client, 140); - configurePostEvWaypoint>(postWaypointFn, client, 141); - configurePostEvWaypoint>(postWaypointFn, client, 142); - configurePostEvWaypoint>(postWaypointFn, client, 143); - configurePostEvWaypoint>(postWaypointFn, client, 144); - configurePostEvWaypoint>(postWaypointFn, client, 145); - configurePostEvWaypoint>(postWaypointFn, client, 146); - configurePostEvWaypoint>(postWaypointFn, client, 147); - configurePostEvWaypoint>(postWaypointFn, client, 148); - configurePostEvWaypoint>(postWaypointFn, client, 149); - configurePostEvWaypoint>(postWaypointFn, client, 150); - configurePostEvWaypoint>(postWaypointFn, client, 151); - configurePostEvWaypoint>(postWaypointFn, client, 152); - configurePostEvWaypoint>(postWaypointFn, client, 153); - configurePostEvWaypoint>(postWaypointFn, client, 154); - configurePostEvWaypoint>(postWaypointFn, client, 155); - configurePostEvWaypoint>(postWaypointFn, client, 156); - configurePostEvWaypoint>(postWaypointFn, client, 157); - configurePostEvWaypoint>(postWaypointFn, client, 158); - configurePostEvWaypoint>(postWaypointFn, client, 159); - configurePostEvWaypoint>(postWaypointFn, client, 160); - configurePostEvWaypoint>(postWaypointFn, client, 161); - configurePostEvWaypoint>(postWaypointFn, client, 162); - configurePostEvWaypoint>(postWaypointFn, client, 163); - configurePostEvWaypoint>(postWaypointFn, client, 164); - configurePostEvWaypoint>(postWaypointFn, client, 165); - configurePostEvWaypoint>(postWaypointFn, client, 166); - configurePostEvWaypoint>(postWaypointFn, client, 167); - configurePostEvWaypoint>(postWaypointFn, client, 168); - configurePostEvWaypoint>(postWaypointFn, client, 169); - configurePostEvWaypoint>(postWaypointFn, client, 170); - configurePostEvWaypoint>(postWaypointFn, client, 171); - configurePostEvWaypoint>(postWaypointFn, client, 172); - configurePostEvWaypoint>(postWaypointFn, client, 173); - configurePostEvWaypoint>(postWaypointFn, client, 174); - configurePostEvWaypoint>(postWaypointFn, client, 175); - configurePostEvWaypoint>(postWaypointFn, client, 176); - configurePostEvWaypoint>(postWaypointFn, client, 177); - configurePostEvWaypoint>(postWaypointFn, client, 178); - configurePostEvWaypoint>(postWaypointFn, client, 179); - configurePostEvWaypoint>(postWaypointFn, client, 180); - configurePostEvWaypoint>(postWaypointFn, client, 181); - configurePostEvWaypoint>(postWaypointFn, client, 182); - configurePostEvWaypoint>(postWaypointFn, client, 183); - configurePostEvWaypoint>(postWaypointFn, client, 184); - configurePostEvWaypoint>(postWaypointFn, client, 185); - configurePostEvWaypoint>(postWaypointFn, client, 186); - configurePostEvWaypoint>(postWaypointFn, client, 187); - configurePostEvWaypoint>(postWaypointFn, client, 188); - configurePostEvWaypoint>(postWaypointFn, client, 189); - configurePostEvWaypoint>(postWaypointFn, client, 190); - configurePostEvWaypoint>(postWaypointFn, client, 191); - configurePostEvWaypoint>(postWaypointFn, client, 192); - configurePostEvWaypoint>(postWaypointFn, client, 193); - configurePostEvWaypoint>(postWaypointFn, client, 194); - configurePostEvWaypoint>(postWaypointFn, client, 195); - configurePostEvWaypoint>(postWaypointFn, client, 196); - configurePostEvWaypoint>(postWaypointFn, client, 197); - configurePostEvWaypoint>(postWaypointFn, client, 198); - configurePostEvWaypoint>(postWaypointFn, client, 199); - configurePostEvWaypoint>(postWaypointFn, client, 200); - configurePostEvWaypoint>(postWaypointFn, client, 201); - configurePostEvWaypoint>(postWaypointFn, client, 202); - configurePostEvWaypoint>(postWaypointFn, client, 203); - configurePostEvWaypoint>(postWaypointFn, client, 204); - configurePostEvWaypoint>(postWaypointFn, client, 205); - configurePostEvWaypoint>(postWaypointFn, client, 206); - configurePostEvWaypoint>(postWaypointFn, client, 207); - configurePostEvWaypoint>(postWaypointFn, client, 208); - configurePostEvWaypoint>(postWaypointFn, client, 209); - configurePostEvWaypoint>(postWaypointFn, client, 210); - configurePostEvWaypoint>(postWaypointFn, client, 211); - configurePostEvWaypoint>(postWaypointFn, client, 212); - configurePostEvWaypoint>(postWaypointFn, client, 213); - configurePostEvWaypoint>(postWaypointFn, client, 214); - configurePostEvWaypoint>(postWaypointFn, client, 215); - configurePostEvWaypoint>(postWaypointFn, client, 216); - configurePostEvWaypoint>(postWaypointFn, client, 217); - configurePostEvWaypoint>(postWaypointFn, client, 218); - configurePostEvWaypoint>(postWaypointFn, client, 219); - configurePostEvWaypoint>(postWaypointFn, client, 220); - configurePostEvWaypoint>(postWaypointFn, client, 221); - configurePostEvWaypoint>(postWaypointFn, client, 222); - configurePostEvWaypoint>(postWaypointFn, client, 223); - configurePostEvWaypoint>(postWaypointFn, client, 224); - configurePostEvWaypoint>(postWaypointFn, client, 225); - configurePostEvWaypoint>(postWaypointFn, client, 226); - configurePostEvWaypoint>(postWaypointFn, client, 227); - configurePostEvWaypoint>(postWaypointFn, client, 228); - configurePostEvWaypoint>(postWaypointFn, client, 229); - configurePostEvWaypoint>(postWaypointFn, client, 230); - configurePostEvWaypoint>(postWaypointFn, client, 231); - configurePostEvWaypoint>(postWaypointFn, client, 232); - configurePostEvWaypoint>(postWaypointFn, client, 233); - configurePostEvWaypoint>(postWaypointFn, client, 234); - configurePostEvWaypoint>(postWaypointFn, client, 235); - configurePostEvWaypoint>(postWaypointFn, client, 236); - configurePostEvWaypoint>(postWaypointFn, client, 237); - configurePostEvWaypoint>(postWaypointFn, client, 238); - configurePostEvWaypoint>(postWaypointFn, client, 239); - configurePostEvWaypoint>(postWaypointFn, client, 240); - configurePostEvWaypoint>(postWaypointFn, client, 241); - configurePostEvWaypoint>(postWaypointFn, client, 242); - configurePostEvWaypoint>(postWaypointFn, client, 243); - configurePostEvWaypoint>(postWaypointFn, client, 244); - configurePostEvWaypoint>(postWaypointFn, client, 245); - configurePostEvWaypoint>(postWaypointFn, client, 246); - configurePostEvWaypoint>(postWaypointFn, client, 247); - configurePostEvWaypoint>(postWaypointFn, client, 248); - configurePostEvWaypoint>(postWaypointFn, client, 249); - configurePostEvWaypoint>(postWaypointFn, client, 250); - configurePostEvWaypoint>(postWaypointFn, client, 251); - configurePostEvWaypoint>(postWaypointFn, client, 252); - configurePostEvWaypoint>(postWaypointFn, client, 253); - configurePostEvWaypoint>(postWaypointFn, client, 254); - configurePostEvWaypoint>(postWaypointFn, client, 255); - configurePostEvWaypoint>(postWaypointFn, client, 256); - // Doxygen endcond tag - /// @endcond -} - -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/components/waypoints_navigator/cp_waypoints_navigator.hpp b/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/components/waypoints_navigator/cp_waypoints_navigator.hpp deleted file mode 100644 index 78d1e7bf3..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/components/waypoints_navigator/cp_waypoints_navigator.hpp +++ /dev/null @@ -1,85 +0,0 @@ -// 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_nitrosz -{ -class ClNitrosZ; - -struct EvWaypointFinal : sc::event -{ -}; - -struct NavigateNextWaypointOptions -{ - std::optional controllerName_; - std::optional goalCheckerName_; -}; - -// This component contains a list of waypoints. These waypoints can -// be iterated in the different states using CbNextWaiPoint -// waypoint index is only incremented if the current waypoint is successfully reached -class CpWaypointNavigator : public CpWaypointNavigatorBase -{ -public: - ClNitrosZ * client_; - - CpWaypointNavigator(); - - void onInitialize() override; - - template - void onOrthogonalAllocation() - { - waypointsEventDispatcher.initialize(client_); - } - - std::optional > > > - sendNextGoal( - std::optional options = std::nullopt, - cl_nitrosz::ClNitrosZ::SmaccNavigateResultSignal::WeakPtr callback = - cl_nitrosz::ClNitrosZ::SmaccNavigateResultSignal::WeakPtr()); - - void stopWaitingResult(); - - smacc2::SmaccSignal onNavigationRequestSucceded; - smacc2::SmaccSignal onNavigationRequestAborted; - smacc2::SmaccSignal onNavigationRequestCancelled; - -private: - void onNavigationResult(const ClNitrosZ::WrappedResult & r); - - void onGoalReached(const ClNitrosZ::WrappedResult & res); - void onGoalCancelled(const ClNitrosZ::WrappedResult & /*res*/); - void onGoalAborted(const ClNitrosZ::WrappedResult & /*res*/); - - boost::signals2::connection succeddedNav2ZClientConnection_; - boost::signals2::connection abortedNav2ZClientConnection_; - boost::signals2::connection cancelledNav2ZClientConnection_; -}; -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/components/waypoints_navigator/cp_waypoints_navigator_base.hpp b/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/components/waypoints_navigator/cp_waypoints_navigator_base.hpp deleted file mode 100644 index 0612890c6..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/components/waypoints_navigator/cp_waypoints_navigator_base.hpp +++ /dev/null @@ -1,102 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -struct Pose2D -{ - Pose2D(double x, double y, double yaw) - { - this->x_ = x; - this->y_ = y; - this->yaw_ = yaw; - } - - double x_; - double y_; - double yaw_; -}; - -// This component contains a list of waypoints. These waypoints can -// be iterated in the different states using CbNextWaiPoint -// waypoint index is only incremented if the current waypoint is successfully reached -class CpWaypointNavigatorBase : public smacc2::ISmaccComponent -{ -public: - WaypointEventDispatcher waypointsEventDispatcher; - - CpWaypointNavigatorBase(); - - virtual ~CpWaypointNavigatorBase(); - - void onInitialize() override; - - // template - // void onOrthogonalAllocation() - // { - // waypointsEventDispatcher.initialize(client_); - // } - - void loadWayPointsFromFile(std::string filepath); - - void loadWayPointsFromFile2(std::string filepath); - - void setWaypoints(const std::vector & waypoints); - - void setWaypoints(const std::vector & waypoints); - - const std::vector & getWaypoints() const; - const std::vector & getWaypointNames() const; - std::optional getNamedPose(std::string name) const; - geometry_msgs::msg::Pose getPose(int index) const; - geometry_msgs::msg::Pose getCurrentPose() const; - - long getCurrentWaypointIndex() const; - std::optional getCurrentWaypointName() const; - - long currentWaypoint_; - - void rewind(int count); - - void forward(int count); - void seekName(std::string name); - - void loadWaypointsFromYamlParameter( - std::string parameter_name, std::string yaml_file_package_name); - - void notifyGoalReached(); - -protected: - void insertWaypoint(int index, geometry_msgs::msg::Pose & newpose); - - void removeWaypoint(int index); - - std::vector waypoints_; - - std::vector waypointsNames_; -}; -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/components/waypoints_navigator/cp_waypoints_visualizer.hpp b/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/components/waypoints_navigator/cp_waypoints_visualizer.hpp deleted file mode 100644 index 342f3bca6..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/components/waypoints_navigator/cp_waypoints_visualizer.hpp +++ /dev/null @@ -1,58 +0,0 @@ -// 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_nitrosz -{ -class ClNitrosZ; - -class CpWaypointsVisualizer : public smacc2::ISmaccComponent, public smacc2::ISmaccUpdatable -{ -public: - cl_nitrosz::CpWaypointNavigator * waypointsNavigator_; - - CpWaypointsVisualizer(rclcpp::Duration duration); - - void onInitialize() override; - -protected: - virtual void update() override; - -private: - std::mutex m_mutex_; - - rclcpp::Publisher::SharedPtr markersPub_; - visualization_msgs::msg::MarkerArray markers_; - visualization_msgs::msg::MarkerArray markerLabels_; - - void createMarker(const geometry_msgs::msg::Pose & waypoint, visualization_msgs::msg::Marker & m); - void createMarkerLabel( - const geometry_msgs::msg::Pose & waypoint, std::string label, - visualization_msgs::msg::Marker & m); -}; -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/nitrosz_client.hpp b/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/nitrosz_client.hpp deleted file mode 100644 index 079c1c172..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/nitrosz_client.hpp +++ /dev/null @@ -1,44 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -class ClNitrosZ -: public smacc2::client_bases::SmaccActionClientBase -{ -public: - using smacc2::client_bases::SmaccActionClientBase::GoalHandle; - using smacc2::client_bases::SmaccActionClientBase< - nav2_msgs::action::NavigateToPose>::ResultCallback; - - typedef smacc2::SmaccSignal SmaccNavigateResultSignal; - - ClNitrosZ(std::string navigateToPoseAction = "/navigate_to_pose"); - - virtual ~ClNitrosZ(); -}; - -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/package.xml b/smacc2_client_library/nitrosz_client/nitrosz_client/package.xml deleted file mode 100644 index 82fac14df..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/package.xml +++ /dev/null @@ -1,37 +0,0 @@ - - - - nitrosz_client - 2.3.18 - The nitrosz_client package implements SMACC Action Client Plugin for the ROS Navigation State - move_base node. Developed by Reel Robotics. - - Pablo Inigo Blasco - Pablo Inigo Blasco - - BSDv3 - - ament_cmake - - smacc2 - slam_toolbox - - angles - yaml_cpp_vendor - nav2_msgs - pluginlib - rclcpp_action - - nav2_util - - std_msgs - std_srvs - tf2_ros - tf2_geometry_msgs - bond - - ament_index_cpp - - - ament_cmake - - diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/scripts/lidar_completion.py b/smacc2_client_library/nitrosz_client/nitrosz_client/scripts/lidar_completion.py deleted file mode 100755 index cdde85763..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/scripts/lidar_completion.py +++ /dev/null @@ -1,105 +0,0 @@ -# Copyright 2024 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. - -#!/usr/bin/env python3 -import rclpy -from rclpy.node import Node -from sensor_msgs.msg import LaserScan -from rclpy.qos import QoSProfile, ReliabilityPolicy, HistoryPolicy -import logging -import copy - - -class LidarProcessor(Node): - def __init__(self): - super().__init__("lidar_processor") - - qos_prof_1 = QoSProfile( - reliability=ReliabilityPolicy.BEST_EFFORT, history=HistoryPolicy.KEEP_LAST, depth=10 - ) - - self.subscription = self.create_subscription( - LaserScan, "/scan_input", self.lidar_callback, qos_profile=qos_prof_1 - ) - - qos_prof_2 = QoSProfile( - reliability=ReliabilityPolicy.RELIABLE, history=HistoryPolicy.KEEP_LAST, depth=10 - ) - - self.msg_buffer = [] - self.publisher = self.create_publisher(LaserScan, "/scan_output", qos_profile=qos_prof_2) - - self.logger = self.get_logger() - self.logger.set_level(logging.INFO) - - def lidar_callback(self, msg): - # self.logger.info("Received message") - self.msg_buffer.append(msg) - if len(self.msg_buffer) > 5: - # self.logger.info("Merging messages") - merged_msg = self.merge_lidar_msgs() - # self.msg_buffer.pop(0) - self.msg_buffer = [] - self.publisher.publish(merged_msg) - - def merge_lidar_msgs(self): - merged_ranges = [0.0] * len(self.msg_buffer[0].ranges) * len(self.msg_buffer) - # cont_inf = 0 - cont_tot = 0 - for i in range(len(self.msg_buffer)): - for j in range(len(self.msg_buffer[i].ranges)): - # if self.msg_buffer[i].ranges[j] != float("inf"): - merged_ranges[cont_tot] = self.msg_buffer[i].ranges[j] - cont_tot += 1 - # else: - # cont_inf += 1 - - # self.logger.info(f"Number of infinite values from total: {cont_inf}/{cont_tot}") - - merged_msg = LaserScan() - # merged_msg = copy.deepcopy(self.msg_buffer[-1]) - merged_msg.header = self.msg_buffer[-1].header - - merged_msg.time_increment = self.msg_buffer[0].time_increment - - merged_msg.angle_increment = self.msg_buffer[0].angle_increment - merged_msg.angle_min = self.msg_buffer[0].angle_min - merged_msg.angle_max = ( - self.msg_buffer[0].angle_min + (len(merged_ranges) - 1) * merged_msg.angle_increment - ) - - # print(f"first angle_min: {self.msg_buffer[0].angle_min}") - # print(f"angle_min: {merged_msg.angle_min}") - # print(f"angle_max: {merged_msg.angle_max}") - - # merged_msg.angle_min = self.msg_buffer[0].angle_min - self.msg_buffer[0].angle_increment*len(self.msg_buffer) - # merged_msg.angle_max = merged_msg.angle_min + (len(merged_ranges)-1)*merged_msg.angle_increment - - merged_msg.range_min = min(msg.range_min for msg in self.msg_buffer) - merged_msg.range_max = max(msg.range_max for msg in self.msg_buffer) - merged_msg.ranges = merged_ranges - - return merged_msg - - -def main(args=None): - rclpy.init(args=args) - lidar_processor = LidarProcessor() - rclpy.spin(lidar_processor) - lidar_processor.destroy_node() - rclpy.shutdown() - - -if __name__ == "__main__": - main() diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_abort_navigation.cpp b/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_abort_navigation.cpp deleted file mode 100644 index 8774450f1..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_abort_navigation.cpp +++ /dev/null @@ -1,44 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -CbAbortNavigation::CbAbortNavigation() {} - -void CbAbortNavigation::onEntry() -{ - // this->sendGoal(goal); - - this->nitroszClient_->cancelGoal(); - this->postSuccessEvent(); -} - -void CbAbortNavigation::onExit() {} - -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_absolute_rotate.cpp b/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_absolute_rotate.cpp deleted file mode 100644 index 61739fca2..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_absolute_rotate.cpp +++ /dev/null @@ -1,270 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -CbAbsoluteRotate::CbAbsoluteRotate() {} -CbAbsoluteRotate::CbAbsoluteRotate(float absoluteGoalAngleDegree, float yaw_goal_tolerance) -{ - this->absoluteGoalAngleDegree = absoluteGoalAngleDegree; - - if (yaw_goal_tolerance >= 0) - { - this->yawGoalTolerance = yaw_goal_tolerance; - } -} - -void CbAbsoluteRotate::onEntry() -{ - listener = std::make_shared(getNode()->get_clock()); - double goal_angle = this->absoluteGoalAngleDegree; - - RCLCPP_INFO_STREAM(getLogger(), "[CbAbsoluteRotate] Absolute yaw Angle:" << goal_angle); - - auto plannerSwitcher = this->nitroszClient_->getComponent(); - // this should work better with a coroutine and await - // this->plannerSwitcher_->setForwardPlanner(); - - if (spinningPlanner && *spinningPlanner == SpinningPlanner::PureSpinning) - { - plannerSwitcher->setPureSpinningPlanner(); - } - else - { - plannerSwitcher->setDefaultPlanners(); - } - - updateTemporalBehaviorParameters(false); - - auto p = nitroszClient_->getComponent(); - auto referenceFrame = p->getReferenceFrame(); - auto currentPoseMsg = p->toPoseMsg(); - - ClNitrosZ::Goal goal; - goal.pose.header.frame_id = referenceFrame; - //goal.pose.header.stamp = getNode()->now(); - - auto targetAngle = goal_angle * M_PI / 180.0; - goal.pose.pose.position = currentPoseMsg.position; - tf2::Quaternion q; - q.setRPY(0, 0, targetAngle); - goal.pose.pose.orientation = tf2::toMsg(q); - - auto odomTracker_ = nitroszClient_->getComponent(); - if (odomTracker_ != nullptr) - { - auto pathname = this->getCurrentState()->getName() + " - " + getName(); - odomTracker_->pushPath(pathname); - odomTracker_->setStartPoint(p->toPoseStampedMsg()); - odomTracker_->setCurrentMotionGoal(goal.pose); - odomTracker_->setWorkingMode(odom_tracker::WorkingMode::RECORD_PATH); - } - - auto goalCheckerSwitcher = nitroszClient_->getComponent(); - goalCheckerSwitcher->setGoalCheckerId("absolute_rotate_goal_checker"); - - RCLCPP_INFO_STREAM( - getLogger(), - "[" << getName() << "] current pose yaw: " << tf2::getYaw(currentPoseMsg.orientation)); - RCLCPP_INFO_STREAM( - getLogger(), - "[" << getName() << "] goal pose yaw: " << tf2::getYaw(goal.pose.pose.orientation)); - this->sendGoal(goal); -} - -void CbAbsoluteRotate::updateTemporalBehaviorParameters(bool undo) -{ - auto log = this->getLogger(); - - std::string nodename = "/controller_server"; - - auto parameters_client = - std::make_shared(this->getNode(), nodename); - - RCLCPP_INFO_STREAM( - log, "[" << getName() << "] using a parameter client to update some controller parameters: " - << nodename << ". Waiting service."); - parameters_client->wait_for_service(); - - RCLCPP_INFO_STREAM(log, "[" << getName() << "] Service found: " << nodename << "."); - - std::string localPlannerName; - std::vector parameters; - - // dynamic_reconfigure::DoubleParameter yaw_goal_tolerance; - rclcpp::Parameter yaw_goal_tolerance("goal_checker.yaw_goal_tolerance"); - - rclcpp::Parameter max_vel_theta, min_vel_theta; - - bool isRosBasePlanner = !spinningPlanner || *spinningPlanner == SpinningPlanner::Default; - bool isPureSpinningPlanner = spinningPlanner && *spinningPlanner == SpinningPlanner::PureSpinning; - - // SELECTING CONTROLLER AND PARAMETERS NAME - if (isPureSpinningPlanner) - { - localPlannerName = "PureSpinningLocalPlanner"; - max_vel_theta = rclcpp::Parameter(localPlannerName + ".max_angular_z_speed"); - min_vel_theta = rclcpp::Parameter(localPlannerName + ".min_vel_theta"); - } - else if (isRosBasePlanner) - { - localPlannerName = "FollowPath"; - max_vel_theta = rclcpp::Parameter(localPlannerName + ".max_vel_theta"); - min_vel_theta = rclcpp::Parameter(localPlannerName + ".min_vel_theta"); - } - - if (!undo) - { - if (yawGoalTolerance) - { - // save old yaw tolerance - auto fut = parameters_client->get_parameters( - {localPlannerName + ".yaw_goal_tolerance"}, - [&](auto futureParameters) - { - auto params = futureParameters.get(); - oldYawTolerance = params[0].as_double(); - }); - - // make synchronous - fut.get(); - - yaw_goal_tolerance = rclcpp::Parameter("goal_checker.yaw_goal_tolerance", *yawGoalTolerance); - parameters.push_back(yaw_goal_tolerance); - RCLCPP_INFO_STREAM( - getLogger(), "[" << getName() - << "] updating yaw tolerance local planner to: " << *yawGoalTolerance - << ", from previous value: " << this->oldYawTolerance); - } - - if (maxVelTheta) - { - if (isRosBasePlanner) - { - // nh.getParam(nodename + "/" + localPlannerName+"/min_vel_theta", oldMinVelTheta); - // getCurrentState()->getParam(nodename + "/" + localPlannerName + "/max_vel_theta", oldMaxVelTheta); - - // save old yaw tolerance - auto fut = parameters_client->get_parameters( - {localPlannerName + ".max_vel_theta"}, - [&](auto futureParameters) - { - auto params = futureParameters.get(); - oldMaxVelTheta = params[0].as_double(); - }); - - // make synchronous - fut.get(); - } - - max_vel_theta = rclcpp::Parameter(localPlannerName + ".max_vel_theta", *maxVelTheta); - min_vel_theta = rclcpp::Parameter(localPlannerName + ".min_vel_theta", -*maxVelTheta); - parameters.push_back(max_vel_theta); - parameters.push_back(min_vel_theta); - - RCLCPP_INFO_STREAM( - log, "[" << getName() << "] updating max vel theta local planner to: " << *maxVelTheta - << ", from previous value: " << this->oldMaxVelTheta); - RCLCPP_INFO_STREAM( - log, "[" << getName() << "] updating min vel theta local planner to: " << -*maxVelTheta - << ", from previous value: " << this->oldMinVelTheta); - } - } - else - { - if (yawGoalTolerance) - { - yaw_goal_tolerance = rclcpp::Parameter("goal_checker.yaw_goal_tolerance", oldYawTolerance); - RCLCPP_INFO_STREAM( - log, "[" << getName() << "] restoring yaw tolerance local planner from: " - << *yawGoalTolerance << " , to previous value: " << this->oldYawTolerance); - } - - if (maxVelTheta) - { - if (isRosBasePlanner) - { - max_vel_theta = rclcpp::Parameter(localPlannerName + ".max_vel_theta", oldMaxVelTheta); - min_vel_theta = rclcpp::Parameter(localPlannerName + ".max_vel_theta", oldMinVelTheta); - } - - parameters.push_back(max_vel_theta); - parameters.push_back(min_vel_theta); - RCLCPP_INFO_STREAM( - log, "[" << getName() << "] restoring max vel theta local planner from: " << *maxVelTheta - << ", to previous value: " << this->oldMaxVelTheta); - RCLCPP_INFO_STREAM( - log, "[" << getName() << "] restoring min vel theta local planner from: " << -(*maxVelTheta) - << ", to previous value: " << this->oldMinVelTheta); - } - } - - if (parameters.size()) - { - std::stringstream ss; - ss << "Executing asynchronous request. Parameters to update: " << std::endl; - for (auto & p : parameters) - { - ss << p.get_name() << " - " << p.value_to_string() << std::endl; - } - - RCLCPP_INFO_STREAM(getLogger(), "[CbAbsoluteRotate] " << ss.str()); - - auto futureResults = parameters_client->set_parameters(parameters); - - int i = 0; - for (auto & res : futureResults.get()) - { - RCLCPP_INFO_STREAM( - getLogger(), "[" << getName() << "] parameter result: " << parameters[i].get_name() << "=" - << parameters[i].as_string() << ". Result: " << res.successful); - i++; - } - - RCLCPP_INFO_STREAM(log, "[" << getName() << "] parameters updated"); - } - else - { - RCLCPP_INFO_STREAM(log, "[" << getName() << "] skipping parameters update"); - } -} - -void CbAbsoluteRotate::onExit() -{ - if (spinningPlanner && *spinningPlanner == SpinningPlanner::PureSpinning) - { - } - else - { - } - - this->updateTemporalBehaviorParameters(true); -} - -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_active_stop.cpp b/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_active_stop.cpp deleted file mode 100644 index 61a650f8c..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_active_stop.cpp +++ /dev/null @@ -1,53 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -CbActiveStop::CbActiveStop() {} - -void CbActiveStop::onEntry() -{ - auto nh = this->getNode(); - cmd_vel_pub_ = nh->create_publisher("/cmd_vel", rclcpp::QoS(1)); - - rclcpp::Rate loop_rate(5); - geometry_msgs::msg::Twist cmd_vel_msg; - while (!this->isShutdownRequested()) - { - cmd_vel_msg.linear.x = 0; - cmd_vel_msg.angular.z = 0; - - cmd_vel_pub_->publish(cmd_vel_msg); - loop_rate.sleep(); - } - RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] Finished behavior execution"); - - this->postSuccessEvent(); -} - -void CbActiveStop::onExit() {} - -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_load_waypoints_file.cpp b/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_load_waypoints_file.cpp deleted file mode 100644 index 67be0095f..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_load_waypoints_file.cpp +++ /dev/null @@ -1,57 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ - -CbLoadWaypointsFile::CbLoadWaypointsFile(std::string filepath) : filepath_(filepath) {} - -CbLoadWaypointsFile::CbLoadWaypointsFile(std::string parameter_name, std::string packagenamespace) -: parameterName_(parameter_name), packageNamespace_(packagenamespace) -{ -} - -void CbLoadWaypointsFile::onEntry() -{ - requiresComponent(waypointsNavigator_); // this is a component from the - // nitrosz_client library - - if (filepath_) - { - this->waypointsNavigator_->loadWayPointsFromFile(filepath_.value()); - } - else - { - RCLCPP_INFO(getLogger(), "Loading waypoints from parameter %s", parameterName_.value().c_str()); - this->waypointsNavigator_->loadWaypointsFromYamlParameter( - parameterName_.value(), packageNamespace_.value()); - } - - // change this to skip some points of the yaml file, default = 0 - waypointsNavigator_->currentWaypoint_ = 0; - this->postSuccessEvent(); -} - -void CbLoadWaypointsFile::onExit() {} -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_navigate_backward.cpp b/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_navigate_backward.cpp deleted file mode 100644 index 7198e56e5..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_navigate_backward.cpp +++ /dev/null @@ -1,100 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -using namespace ::cl_nitrosz::odom_tracker; - -CbNavigateBackwards::CbNavigateBackwards(float backwardDistance) -{ - if (backwardDistance < 0) - { - RCLCPP_ERROR(getLogger(), "[CbNavigateBackwards] distance must be greater or equal than 0"); - this->backwardDistance = 0; - } - this->backwardDistance = backwardDistance; -} - -void CbNavigateBackwards::onEntry() -{ - // straight motion distance - double dist = backwardDistance; - - RCLCPP_INFO_STREAM( - getLogger(), "[CbNavigateBackwards] Straight backwards motion distance: " << dist); - - auto p = nitroszClient_->getComponent(); - auto referenceFrame = p->getReferenceFrame(); - auto currentPoseMsg = p->toPoseMsg(); - tf2::Transform currentPose; - tf2::fromMsg(currentPoseMsg, currentPose); - - tf2::Transform backwardDeltaTransform; - backwardDeltaTransform.setIdentity(); - backwardDeltaTransform.setOrigin(tf2::Vector3(-dist, 0, 0)); - - tf2::Transform targetPose = currentPose * backwardDeltaTransform; - - ClNitrosZ::Goal goal; - goal.pose.header.frame_id = referenceFrame; - //goal.pose.header.stamp = getNode()->now(); - tf2::toMsg(targetPose, goal.pose.pose); - RCLCPP_INFO_STREAM(getLogger(), "[CbNavigateBackwards] TARGET POSE BACKWARDS: " << goal.pose); - - geometry_msgs::msg::PoseStamped currentStampedPoseMsg; - currentStampedPoseMsg.header.frame_id = referenceFrame; - currentStampedPoseMsg.header.stamp = getNode()->now(); - tf2::toMsg(currentPose, currentStampedPoseMsg.pose); - - odomTracker_ = nitroszClient_->getComponent(); - if (odomTracker_ != nullptr) - { - this->odomTracker_->clearPath(); - this->odomTracker_->setStartPoint(currentStampedPoseMsg); - this->odomTracker_->setWorkingMode(WorkingMode::RECORD_PATH); - } - - auto plannerSwitcher = nitroszClient_->getComponent(); - plannerSwitcher->setBackwardPlanner(); - - auto goalCheckerSwitcher = nitroszClient_->getComponent(); - goalCheckerSwitcher->setGoalCheckerId("backward_goal_checker"); - - this->sendGoal(goal); -} - -void CbNavigateBackwards::onExit() -{ - if (odomTracker_) - { - this->odomTracker_->setWorkingMode(WorkingMode::IDLE); - } -} - -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_navigate_forward.cpp b/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_navigate_forward.cpp deleted file mode 100644 index b6cd1f409..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_navigate_forward.cpp +++ /dev/null @@ -1,158 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -using ::cl_nitrosz::odom_tracker::CpOdomTracker; -using ::cl_nitrosz::odom_tracker::WorkingMode; - -using ::cl_nitrosz::Pose; - -CbNavigateForward::CbNavigateForward(float distance_meters) : forwardDistance_(distance_meters) {} -CbNavigateForward::CbNavigateForward() {} - -CbNavigateForward::CbNavigateForward(geometry_msgs::msg::PoseStamped goal) : goalPose_(goal) {} - -CbNavigateForward::~CbNavigateForward() {} - -void CbNavigateForward::setForwardDistance(float distance_meters) -{ - if (distance_meters < 0) - { - RCLCPP_INFO_STREAM( - getLogger(), "[" << getName() << "] negative forward distance: " << distance_meters - << ". Resetting to 0."); - distance_meters = 0; - } - forwardDistance_ = distance_meters; - - RCLCPP_INFO_STREAM( - getLogger(), "[" << getName() << "] setting fw motion distance: " << *forwardDistance_); -} - -void CbNavigateForward::onEntry() -{ - if (forwardDistance_) - { - setForwardDistance(*forwardDistance_); - - RCLCPP_INFO_STREAM( - getLogger(), "[" << getName() << "] Straight motion distance: " << *forwardDistance_); - } - - // get current pose - auto p = nitroszClient_->getComponent(); - auto referenceFrame = p->getReferenceFrame(); - auto currentPoseMsg = p->toPoseMsg(); - - RCLCPP_INFO_STREAM( - getLogger(), "[" << getName() << "]" - << "current pose: " << currentPoseMsg); - - // force global orientation if it is requested - if (options.forceInitialOrientation) - { - currentPoseMsg.orientation = *(options.forceInitialOrientation); - RCLCPP_WARN_STREAM( - getLogger(), - "[" << getName() << "]" - << "Forcing initial straight motion orientation: " << currentPoseMsg.orientation); - } - - tf2::Transform currentPose; - tf2::fromMsg(currentPoseMsg, currentPose); - - tf2::Transform targetPose; - if (goalPose_) - { - tf2::fromMsg(goalPose_->pose, targetPose); - } - else if (forwardDistance_) - { - // compute forward goal pose - tf2::Transform forwardDeltaTransform; - forwardDeltaTransform.setIdentity(); - forwardDeltaTransform.setOrigin(tf2::Vector3(*forwardDistance_, 0, 0)); - - targetPose = currentPose * forwardDeltaTransform; - } - else - { - RCLCPP_WARN_STREAM( - getLogger(), - "[" << getName() << "]" - << "No goal Pose or Distance is specified. Aborting. No action request is sent." - << currentPoseMsg.orientation); - - return; - } - - // action goal - ClNitrosZ::Goal goal; - goal.pose.header.frame_id = referenceFrame; - //goal.pose.header.stamp = getNode()->now(); - tf2::toMsg(targetPose, goal.pose.pose); - RCLCPP_INFO_STREAM( - getLogger(), "[" << getName() << "]" - << " TARGET POSE FORWARD: " << goal.pose.pose); - - // current pose - geometry_msgs::msg::PoseStamped currentStampedPoseMsg; - currentStampedPoseMsg.header.frame_id = referenceFrame; - currentStampedPoseMsg.header.stamp = - getNode()->now(); // probably it is better avoid setting that goal timestamp - - tf2::toMsg(currentPose, currentStampedPoseMsg.pose); - - odomTracker_ = nitroszClient_->getComponent(); - if (odomTracker_ != nullptr) - { - auto pathname = this->getCurrentState()->getName() + " - " + getName(); - odomTracker_->pushPath(pathname); - odomTracker_->setStartPoint(currentStampedPoseMsg); - odomTracker_->setCurrentMotionGoal(goal.pose); - odomTracker_->setWorkingMode(WorkingMode::RECORD_PATH); - } - - auto plannerSwitcher = nitroszClient_->getComponent(); - plannerSwitcher->setForwardPlanner(); - - auto goalCheckerSwitcher = nitroszClient_->getComponent(); - goalCheckerSwitcher->setGoalCheckerId("forward_goal_checker"); - - this->sendGoal(goal); -} - -void CbNavigateForward::onExit() -{ - if (odomTracker_) - { - this->odomTracker_->setWorkingMode(WorkingMode::IDLE); - } -} - -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_navigate_global_position.cpp b/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_navigate_global_position.cpp deleted file mode 100644 index 69b0f21c2..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_navigate_global_position.cpp +++ /dev/null @@ -1,109 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -using namespace ::cl_nitrosz::odom_tracker; - -CbNavigateGlobalPosition::CbNavigateGlobalPosition() {} - -CbNavigateGlobalPosition::CbNavigateGlobalPosition( - float x, float y, float yaw, std::optional options) -{ - auto p = geometry_msgs::msg::Point(); - p.x = x; - p.y = y; - goalPosition = p; - goalYaw = yaw; - - if (options) this->options = *options; -} - -void CbNavigateGlobalPosition::setGoal(const geometry_msgs::msg::Pose & pose) -{ - goalPosition = pose.position; - goalYaw = tf2::getYaw(pose.orientation); -} - -void CbNavigateGlobalPosition::onEntry() -{ - RCLCPP_INFO(getLogger(), "Entering Navigate Global position"); - RCLCPP_INFO(getLogger(), "Component requirements completed"); - - auto pose = nitroszClient_->getComponent()->toPoseMsg(); - auto * odomTracker = nitroszClient_->getComponent(); - - auto plannerSwitcher = nitroszClient_->getComponent(); - - plannerSwitcher->setDefaultPlanners(false); - - if (options.controllerName_) - { - plannerSwitcher->setDesiredController(*(options.controllerName_)); - } - - plannerSwitcher->commitPublish(); - - auto goalCheckerSwitcher = nitroszClient_->getComponent(); - goalCheckerSwitcher->setGoalCheckerId("goal_checker"); - - auto pathname = this->getCurrentState()->getName() + " - " + getName(); - odomTracker->pushPath(pathname); - odomTracker->setStartPoint(pose); - odomTracker->setWorkingMode(WorkingMode::RECORD_PATH); - - execute(); -} - -// auxiliary function that defines the motion that is requested to the nav2 action server -void CbNavigateGlobalPosition::execute() -{ - auto p = nitroszClient_->getComponent(); - auto referenceFrame = p->getReferenceFrame(); - // auto currentPoseMsg = p->toPoseMsg(); - - RCLCPP_INFO(getLogger(), "Sending Goal to MoveBase"); - ClNitrosZ::Goal goal; - goal.pose.header.frame_id = referenceFrame; - //goal.pose.header.stamp = getNode()->now(); - - goal.pose.pose.position = goalPosition; - tf2::Quaternion q; - q.setRPY(0, 0, goalYaw); - goal.pose.pose.orientation = tf2::toMsg(q); - - this->sendGoal(goal); -} - -// This is the substate destructor. This code will be executed when the -// workflow exits from this substate (that is according to statechart the moment when this object is destroyed) -void CbNavigateGlobalPosition::onExit() -{ - RCLCPP_INFO(getLogger(), "Exiting move goal Action Client"); -} - -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_navigate_named_waypoint.cpp b/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_navigate_named_waypoint.cpp deleted file mode 100644 index 44457241e..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_navigate_named_waypoint.cpp +++ /dev/null @@ -1,59 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -CbNavigateNamedWaypoint::CbNavigateNamedWaypoint( - std::string waypointname, std::optional options) -: CbNavigateNextWaypoint(options) -{ - waypointname_ = waypointname; -} - -CbNavigateNamedWaypoint::~CbNavigateNamedWaypoint() {} - -void CbNavigateNamedWaypoint::onEntry() -{ - // waypointsNavigator_ = nitroszClient_->getComponent(); - // waypointsNavigator_->sendNextGoal(options_); - - // auto waypointname = waypointsNavigator_->getCurrentWaypointName(); - - // if(waypointname) - // { - // RCLCPP_INFO( - // getLogger(), "[CbNavigateNamedWaypoint] current iteration waypoints i: %ld with name '%s'", - // waypointsNavigator_->getCurrentWaypointIndex(), waypointname->c_str()); } - // else - // { - // RCLCPP_INFO( - // getLogger(), "[CbNavigateNamedWaypoint] current iteration waypoints i: %ld", - // waypointsNavigator_->getCurrentWaypointIndex()); } - - auto waypointsNavigator_ = nitroszClient_->getComponent(); - waypointsNavigator_->seekName(waypointname_); - CbNavigateNextWaypoint::onEntry(); -} - -void CbNavigateNamedWaypoint::onExit() { CbNavigateNextWaypoint::onExit(); } - -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_navigate_next_waypoint.cpp b/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_navigate_next_waypoint.cpp deleted file mode 100644 index be89559fb..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_navigate_next_waypoint.cpp +++ /dev/null @@ -1,61 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -CbNavigateNextWaypoint::CbNavigateNextWaypoint(std::optional options) -{ - if (options) options_ = *options; -} - -CbNavigateNextWaypoint::~CbNavigateNextWaypoint() {} - -void CbNavigateNextWaypoint::onEntry() -{ - waypointsNavigator_ = nitroszClient_->getComponent(); - - this->navigationCallback_ = std::make_shared(); - - this->getStateMachine()->createSignalConnection( - *navigationCallback_, &CbNavigateNextWaypoint::onNavigationResult, this); - - auto goalHandle = waypointsNavigator_->sendNextGoal(options_, navigationCallback_); - - auto waypointname = waypointsNavigator_->getCurrentWaypointName(); - - if (waypointname) - { - RCLCPP_INFO( - getLogger(), "[CbNavigateNextWaypoint] current iteration waypoints i: %ld with name '%s'", - waypointsNavigator_->getCurrentWaypointIndex(), waypointname->c_str()); - } - else - { - RCLCPP_INFO( - getLogger(), "[CbNavigateNextWaypoint] current iteration waypoints i: %ld", - waypointsNavigator_->getCurrentWaypointIndex()); - } -} - -void CbNavigateNextWaypoint::onExit() { waypointsNavigator_->stopWaitingResult(); } - -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_navigate_next_waypoint_free.cpp b/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_navigate_next_waypoint_free.cpp deleted file mode 100644 index 27915b30f..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_navigate_next_waypoint_free.cpp +++ /dev/null @@ -1,54 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ - -CbNavigateNextWaypointFree::CbNavigateNextWaypointFree() {} - -CbNavigateNextWaypointFree::~CbNavigateNextWaypointFree() {} - -void CbNavigateNextWaypointFree::onEntry() -{ - requiresComponent(this->waypointsNavigator_); - this->target_pose_ = this->waypointsNavigator_->getCurrentPose(); - - this->onSuccess(&CbNavigateNextWaypointFree::CbNavigateNextWaypointFree::onSucessCallback, this); - RCLCPP_INFO_STREAM( - getLogger(), "[CbNavigateNextWaypoint] initial load file target pose: x: " - << this->target_pose_.position.x << ", y: " << this->target_pose_.position.y); - CbPositionControlFreeSpace::onEntry(); -} - -void CbNavigateNextWaypointFree::onSucessCallback() -{ - RCLCPP_INFO_STREAM(getLogger(), "[CbNavigateNextWaypoint] Success on planning to next waypoint"); - this->waypointsNavigator_->notifyGoalReached(); - this->waypointsNavigator_->forward(1); - RCLCPP_INFO_STREAM( - getLogger(), "[CbNavigateNextWaypoint] next position index: " - << this->waypointsNavigator_->getCurrentWaypointIndex() << "/" - << this->waypointsNavigator_->getWaypoints().size()); -} - -void CbNavigateNextWaypointFree::onExit() {} - -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_navigate_next_waypoint_until_reached.cpp b/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_navigate_next_waypoint_until_reached.cpp deleted file mode 100644 index d09dfeac4..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_navigate_next_waypoint_until_reached.cpp +++ /dev/null @@ -1,37 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -CbNavigateNextWaypointUntilReached::CbNavigateNextWaypointUntilReached( - std::string goalWaypointName, std::optional options) -: CbNavigateNextWaypoint(options), goalWaypointName_(goalWaypointName) -{ -} - -CbNavigateNextWaypointUntilReached::~CbNavigateNextWaypointUntilReached() {} - -void CbNavigateNextWaypointUntilReached::onEntry() { CbNavigateNextWaypoint::onEntry(); } - -void CbNavigateNextWaypointUntilReached::onExit() { CbNavigateNextWaypoint::onExit(); } - -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_nitrosz_client_behavior_base.cpp b/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_nitrosz_client_behavior_base.cpp deleted file mode 100644 index 71d36fa9c..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_nitrosz_client_behavior_base.cpp +++ /dev/null @@ -1,127 +0,0 @@ -// 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 -namespace cl_nitrosz -{ -CbNav2ZClientBehaviorBase::~CbNav2ZClientBehaviorBase() {} - -void CbNav2ZClientBehaviorBase::sendGoal(ClNitrosZ::Goal & goal) -{ - RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] Creating sending goal callback signal."); - - this->navigationCallback_ = std::make_shared(); - - this->getStateMachine()->createSignalConnection( - *navigationCallback_, &CbNav2ZClientBehaviorBase::onNavigationResult, this); - - RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] Sending goal"); - goalHandleFuture_ = this->nitroszClient_->sendGoal(goal, navigationCallback_); - RCLCPP_INFO_STREAM( - getLogger(), "[" << getName() << "] Goal set, future valid: " << goalHandleFuture_.valid()); - - // this->goal_uuid_ = gh.get_goal_id () ; -} - -void CbNav2ZClientBehaviorBase::cancelGoal() { this->nitroszClient_->cancelGoal(); } - -bool CbNav2ZClientBehaviorBase::isOwnActionResponse(const ClNitrosZ::WrappedResult & r) -{ - auto name = getName(); - if (isShutdownRequested()) - { - RCLCPP_ERROR( - getLogger(), "[%s] Propagating action client signal skipped. the behavior is shutting down", - name.c_str()); - return false; - } - - if (!goalHandleFuture_.valid()) - { - RCLCPP_ERROR( - this->getLogger(), "[%s]Propagating action client signal, our goal handle is not valid", - name.c_str()); - return false; - } - - auto goalHandle = goalHandleFuture_.get(); - auto goal_uuid_ = goalHandle->get_goal_id(); - - if (r.goal_id != goal_uuid_) - { - RCLCPP_ERROR( - getLogger(), - "[%s] Received a failure event from an action server with a different goal_uuid: %s, " - "expected: %s", - smacc2::demangleType(typeid(*this)).c_str(), rclcpp_action::to_string(r.goal_id).c_str(), - rclcpp_action::to_string(goal_uuid_).c_str()); - return false; - } - - return true; -} - -void CbNav2ZClientBehaviorBase::onNavigationResult(const ClNitrosZ::WrappedResult & r) -{ - RCLCPP_DEBUG( - getLogger(), "[%s] Received result event from action server, result code", getName().c_str()); - - if (r.code == rclcpp_action::ResultCode::SUCCEEDED) - { - this->onNavigationActionSuccess(r); - } - else - { - this->onNavigationActionAbort(r); - } -} - -void CbNav2ZClientBehaviorBase::onNavigationActionSuccess(const ClNitrosZ::WrappedResult & r) -{ - // if (!isOwnActionResponse(r)) - // { - // RCLCPP_WARN( - // getLogger(), "[%s] Propagating success event skipped. Action response is not ours.", - // getName().c_str()); - // return; - // } - - navigationResult_ = r.code; - - RCLCPP_INFO(getLogger(), "[%s] Propagating success event from action server", getName().c_str()); - this->postSuccessEvent(); -} - -void CbNav2ZClientBehaviorBase::onNavigationActionAbort(const ClNitrosZ::WrappedResult & r) -{ - // if (!isOwnActionResponse(r)) - // { - // RCLCPP_WARN( - // getLogger(), "[%s] Propagating success event skipped. Action response is not ours.", - // getName().c_str()); - // return; - // } - - navigationResult_ = r.code; - auto name = getName(); - RCLCPP_INFO(getLogger(), "[%s] Propagating failure event from action server", name.c_str()); - this->postFailureEvent(); -} -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_pause_slam.cpp b/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_pause_slam.cpp deleted file mode 100644 index 602bb0be5..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_pause_slam.cpp +++ /dev/null @@ -1,51 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -CbPauseSlam::CbPauseSlam(std::string serviceName) -: smacc2::client_behaviors::CbServiceCall(serviceName.c_str()) -{ -} - -void CbPauseSlam::onEntry() -{ - this->requiresComponent(this->slam_); - - auto currentState = slam_->getState(); - - if (currentState == CpSlamToolbox::SlamToolboxState::Resumed) - { - RCLCPP_INFO( - getLogger(), "[CbPauseSlam] calling pause service to toggle from resumed to paused"); - this->request_ = std::make_shared(); - CbServiceCall::onEntry(); - this->slam_->toogleState(); - } - else - { - this->request_ = nullptr; - RCLCPP_INFO( - getLogger(), "[CbPauseSlam] calling skipped. The current slam state is already paused."); - } -} - -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_position_control_free_space.cpp b/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_position_control_free_space.cpp deleted file mode 100644 index ca41c43f4..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_position_control_free_space.cpp +++ /dev/null @@ -1,199 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -CbPositionControlFreeSpace::CbPositionControlFreeSpace() -: targetYaw_(0), k_betta_(1.0), max_angular_yaw_speed_(1.0) -{ -} - -void CbPositionControlFreeSpace::updateParameters() {} - -void CbPositionControlFreeSpace::onEntry() -{ - auto nh = this->getNode(); - cmd_vel_pub_ = nh->create_publisher("/cmd_vel", rclcpp::QoS(1)); - - cl_nitrosz::Pose * pose; - - this->requiresComponent(pose); - - geometry_msgs::msg::Twist cmd_vel; - goalReached_ = false; - - geometry_msgs::msg::Pose currentPose = pose->toPoseMsg(); - - rclcpp::Rate loop_rate(10); - double countAngle = 0; - auto prevyaw = tf2::getYaw(currentPose.orientation); - - // PID controller gains (proportional, integral, and derivative) - double kp_linear = 0.5; - double ki_linear = 0.0; - double kd_linear = 0.1; - - double kp_angular = 0.5; - double ki_angular = 0.0; - double kd_angular = 0.1; - - while (rclcpp::ok() && !goalReached_) - { - RCLCPP_INFO_STREAM_THROTTLE( - getLogger(), *getNode()->get_clock(), 200, - "CbPositionControlFreeSpace, current pose: " << currentPose.position.x << ", " - << currentPose.position.y << ", " - << tf2::getYaw(currentPose.orientation)); - - RCLCPP_INFO_STREAM_THROTTLE( - getLogger(), *getNode()->get_clock(), 200, - "CbPositionControlFreeSpace, target pose: " << target_pose_.position.x << ", " - << target_pose_.position.y << ", " - << tf2::getYaw(target_pose_.orientation)); - - tf2::Quaternion q; - currentPose = pose->toPoseMsg(); - - // Here we implement the control logic to calculate the velocity command - // based on the received position of the vehicle and the target pose. - - // Calculate the errors in x and y - double error_x = target_pose_.position.x - currentPose.position.x; - double error_y = target_pose_.position.y - currentPose.position.y; - - // Calculate the distance to the target pose - double distance_to_target = std::sqrt(error_x * error_x + error_y * error_y); - - RCLCPP_INFO_STREAM( - getLogger(), "[" << getName() << "] distance to target: " << distance_to_target - << " ( th: " << threshold_distance_ << ")"); - - // Check if the robot has reached the target pose - if (distance_to_target < threshold_distance_) - { - RCLCPP_INFO(getLogger(), "Goal reached!"); - // Stop the robot by setting the velocity commands to zero - geometry_msgs::msg::Twist cmd_vel_msg; - cmd_vel_msg.linear.x = 0.0; - cmd_vel_msg.angular.z = 0.0; - cmd_vel_pub_->publish(cmd_vel_msg); - break; - } - else - { - // Calculate the desired orientation angle - double desired_yaw = std::atan2(error_y, error_x); - - // Calculate the difference between the desired orientation and the - // current orientation - double yaw_error = desired_yaw - (tf2::getYaw(currentPose.orientation) + M_PI); - - // Ensure the yaw error is within the range [-pi, pi] - while (yaw_error > M_PI) yaw_error -= 2 * M_PI; - while (yaw_error < -M_PI) yaw_error += 2 * M_PI; - - // Calculate the control signals (velocity commands) using PID controllers - double cmd_linear_x = kp_linear * distance_to_target + ki_linear * integral_linear_ + - kd_linear * (distance_to_target - prev_error_linear_); - double cmd_angular_z = kp_angular * yaw_error + ki_angular * integral_angular_ + - kd_angular * (yaw_error - prev_error_angular_); - - if (cmd_linear_x > max_linear_velocity) - cmd_linear_x = max_linear_velocity; - else if (cmd_linear_x < -max_linear_velocity) - cmd_linear_x = -max_linear_velocity; - - if (cmd_angular_z > max_angular_velocity) - cmd_angular_z = max_angular_velocity; - else if (cmd_angular_z < -max_angular_velocity) - cmd_angular_z = -max_angular_velocity; - - // Construct and publish the velocity command message - geometry_msgs::msg::Twist cmd_vel_msg; - - cmd_vel_msg.linear.x = cmd_linear_x; - cmd_vel_msg.angular.z = cmd_angular_z; - - cmd_vel_pub_->publish(cmd_vel_msg); - - // Update errors and integrals for the next control cycle - prev_error_linear_ = distance_to_target; - prev_error_angular_ = yaw_error; - integral_linear_ += distance_to_target; - integral_angular_ += yaw_error; - - // tf2::fromMsg(currentPose.orientation, q); - // auto currentYaw = tf2::getYaw(currentPose.orientation); - // auto deltaAngle = angles::shortest_angular_distance(prevyaw, - // currentYaw); countAngle += deltaAngle; - - // prevyaw = currentYaw; - // double angular_error = targetYaw_ - countAngle; - - // auto omega = angular_error * k_betta_; - // cmd_vel.linear.x = 0; - // cmd_vel.linear.y = 0; - // cmd_vel.linear.z = 0; - // cmd_vel.angular.z = - // std::min(std::max(omega, -fabs(max_angular_yaw_speed_)), - // fabs(max_angular_yaw_speed_)); - - // RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] delta angle: " - // << deltaAngle); RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] - // cummulated angle: " << countAngle); RCLCPP_INFO_STREAM(getLogger(), "[" - // << getName() << "] k_betta_: " << k_betta_); - - // RCLCPP_INFO_STREAM( - // getLogger(), "[" << getName() << "] angular error: " << angular_error - // << "(" - // << yaw_goal_tolerance_rads_ << ")"); - // RCLCPP_INFO_STREAM( - // getLogger(), "[" << getName() << "] command angular speed: " << - // cmd_vel.angular.z); - - // if (fabs(angular_error) < yaw_goal_tolerance_rads_) - // { - // RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] GOAL REACHED. - // Sending stop command."); goalReached_ = true; cmd_vel.linear.x = 0; - // cmd_vel.angular.z = 0; - // break; - // } - - // this->cmd_vel_pub_->publish(cmd_vel); - - loop_rate.sleep(); - } - } - - RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] Finished behavior execution"); - - this->postSuccessEvent(); -} - -void CbPositionControlFreeSpace::onExit() {} - -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_pure_spinning.cpp b/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_pure_spinning.cpp deleted file mode 100644 index e2b12ee93..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_pure_spinning.cpp +++ /dev/null @@ -1,102 +0,0 @@ -// 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 -namespace cl_nitrosz -{ - -CbPureSpinning::CbPureSpinning(double targetYaw_rads, double max_angular_yaw_speed) -: targetYaw__rads(targetYaw_rads), - k_betta_(1.0), - max_angular_yaw_speed_(max_angular_yaw_speed), - yaw_goal_tolerance_rads_(0.1) -{ -} - -void CbPureSpinning::updateParameters() {} - -void CbPureSpinning::onEntry() -{ - auto nh = this->getNode(); - cmd_vel_pub_ = nh->create_publisher("/cmd_vel", rclcpp::QoS(1)); - - cl_nitrosz::Pose * pose; - this->requiresComponent(pose); - - geometry_msgs::msg::Twist cmd_vel; - goalReached_ = false; - - geometry_msgs::msg::Pose currentPose = pose->toPoseMsg(); - - rclcpp::Rate loop_rate(10); - double countAngle = 0; - auto prevyaw = tf2::getYaw(currentPose.orientation); - while (rclcpp::ok() && !goalReached_) - { - tf2::Quaternion q; - currentPose = pose->toPoseMsg(); - tf2::fromMsg(currentPose.orientation, q); - auto currentYaw = tf2::getYaw(currentPose.orientation); - auto deltaAngle = angles::shortest_angular_distance(prevyaw, currentYaw); - countAngle += deltaAngle; - - prevyaw = currentYaw; - double angular_error = targetYaw__rads - countAngle; - - auto omega = angular_error * k_betta_; - cmd_vel.linear.x = 0; - cmd_vel.linear.y = 0; - cmd_vel.linear.z = 0; - cmd_vel.angular.z = - std::min(std::max(omega, -fabs(max_angular_yaw_speed_)), fabs(max_angular_yaw_speed_)); - - RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] delta angle: " << deltaAngle); - RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] cummulated angle: " << countAngle); - RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] k_betta_: " << k_betta_); - - RCLCPP_INFO_STREAM( - getLogger(), "[" << getName() << "] angular error: " << angular_error << "(" - << yaw_goal_tolerance_rads_ << ")"); - RCLCPP_INFO_STREAM( - getLogger(), "[" << getName() << "] command angular speed: " << cmd_vel.angular.z); - - if (fabs(angular_error) < yaw_goal_tolerance_rads_) - { - RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] GOAL REACHED. Sending stop command."); - goalReached_ = true; - cmd_vel.linear.x = 0; - cmd_vel.angular.z = 0; - break; - } - - this->cmd_vel_pub_->publish(cmd_vel); - - loop_rate.sleep(); - } - - this->postSuccessEvent(); -} - -void CbPureSpinning::onExit() {} -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_resume_slam.cpp b/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_resume_slam.cpp deleted file mode 100644 index 1451b8f71..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_resume_slam.cpp +++ /dev/null @@ -1,51 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -CbResumeSlam::CbResumeSlam(std::string serviceName) -: smacc2::client_behaviors::CbServiceCall(serviceName.c_str()) -{ -} - -void CbResumeSlam::onEntry() -{ - this->requiresComponent(this->slam_); - - auto currentState = slam_->getState(); - - if (currentState == CpSlamToolbox::SlamToolboxState::Paused) - { - RCLCPP_INFO( - getLogger(), "[CbResumeSlam] calling pause service to toggle from paused to resumed"); - this->request_ = std::make_shared(); - smacc2::client_behaviors::CbServiceCall::onEntry(); - this->slam_->toogleState(); - } - else - { - this->request_ = nullptr; - RCLCPP_INFO( - getLogger(), "[CbResumeSlam] calling skipped. The current slam state is already resumed."); - } -} - -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_rotate.cpp b/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_rotate.cpp deleted file mode 100644 index a8f398d4a..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_rotate.cpp +++ /dev/null @@ -1,87 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -CbRotate::CbRotate(float rotate_degree) : rotateDegree(rotate_degree) {} - -CbRotate::CbRotate(float rotate_degree, SpinningPlanner spinning_planner) -: rotateDegree(rotate_degree), spinningPlanner(spinning_planner) -{ -} - -void CbRotate::onEntry() -{ - double angle_increment_degree = rotateDegree; - - auto plannerSwitcher = nitroszClient_->getComponent(); - - if (spinningPlanner && *spinningPlanner == SpinningPlanner::PureSpinning) - { - plannerSwitcher->setPureSpinningPlanner(); - } - else - { - plannerSwitcher->setDefaultPlanners(); - } - - auto p = nitroszClient_->getComponent(); - auto referenceFrame = p->getReferenceFrame(); - auto currentPoseMsg = p->toPoseMsg(); - - tf2::Transform currentPose; - tf2::fromMsg(currentPoseMsg, currentPose); - - auto odomTracker = nitroszClient_->getComponent(); - ClNitrosZ::Goal goal; - goal.pose.header.frame_id = referenceFrame; - //goal.pose.header.stamp = getNode()->now(); - - auto currentAngle = tf2::getYaw(currentPoseMsg.orientation); - auto targetAngle = currentAngle + angle_increment_degree * M_PI / 180.0; - goal.pose.pose.position = currentPoseMsg.position; - tf2::Quaternion q; - q.setRPY(0, 0, targetAngle); - goal.pose.pose.orientation = tf2::toMsg(q); - - geometry_msgs::msg::PoseStamped stampedCurrentPoseMsg; - stampedCurrentPoseMsg.header.frame_id = referenceFrame; - stampedCurrentPoseMsg.header.stamp = getNode()->now(); - stampedCurrentPoseMsg.pose = currentPoseMsg; - - this->requiresClient(nitroszClient_); - auto pathname = this->getCurrentState()->getName() + " - " + getName(); - odomTracker->pushPath(pathname); - - odomTracker->setStartPoint(stampedCurrentPoseMsg); - odomTracker->setWorkingMode(odom_tracker::WorkingMode::RECORD_PATH); - - RCLCPP_INFO_STREAM(getLogger(), "current pose: " << currentPoseMsg); - RCLCPP_INFO_STREAM(getLogger(), "goal pose: " << goal.pose.pose); - this->sendGoal(goal); -} - -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_rotate_look_at.cpp b/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_rotate_look_at.cpp deleted file mode 100644 index c77fc9f1a..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_rotate_look_at.cpp +++ /dev/null @@ -1,58 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -CbRotateLookAt::CbRotateLookAt() {} - -CbRotateLookAt::CbRotateLookAt(const geometry_msgs::msg::PoseStamped & lookAtPose) -: lookAtPose_(lookAtPose) -{ -} - -void CbRotateLookAt::onEntry() -{ - cl_nitrosz::Pose * pose; - this->requiresComponent(pose); - - pose->waitTransformUpdate(rclcpp::Rate(20)); - auto position = pose->toPoseMsg().position; - - if (lookAtPose_) - { - auto targetPosition = lookAtPose_->pose.position; - double yaw_degrees = - atan2(targetPosition.y - position.y, targetPosition.x - position.x) * 180.0 / M_PI; - this->absoluteGoalAngleDegree = yaw_degrees; - } - - CbAbsoluteRotate::onEntry(); -} - -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_save_slam_map.cpp b/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_save_slam_map.cpp deleted file mode 100644 index c50d72af4..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_save_slam_map.cpp +++ /dev/null @@ -1,85 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -using namespace std::chrono_literals; - -CbSaveSlamMap::CbSaveSlamMap() : CbServiceCall("/map_saver/save_map", getRequest()) -{ - // : CbServiceCall("/slam_toolbox/save_map", - // getRequest()) { - - // map_name.data = "saved_map"; - // auto request = getRequest(map_name); - // RCLCPP_INFO_STREAM(getLogger(), "Save Slam Map builded"); -} - -// void onEntry() override {} - -void CbSaveSlamMap::onExit() {} - -std::shared_ptr CbSaveSlamMap::getRequest( - /*slam_toolbox::srv::SaveMap_Request_ >::_name_type saved_map_name*/) -{ - nav2_msgs::srv::SaveMap_Request map_save; - std_msgs::msg::String map_name; - - // // map_name.data = "saved_map"; - // map_save.map_topic = "map"; - // map_save.map_url = "${workspacesFolder}/maps/saved_map"; - // map_save.image_format = "png"; - // map_save.occupied_thresh = 0.65; - // map_save.free_thresh = 0.25; - // map_save.map_mode = "trinary"; - - // // auto request = std::make_shared(); - // // // request->name = saved_map_name; - // // request->name = map_name; - // // return request; - // auto request = std::make_shared(map_save); - - auto request = std::make_shared(); - request->map_topic = "map"; - request->map_url = "/tmp/saved_map"; - request->image_format = "png"; - request->occupied_thresh = 0.65; - request->free_thresh = 0.25; - request->map_mode = "trinary"; - - return request; -} -} // namespace cl_nitrosz - -// slam_toolbox::srv::SaveMap_Request_ >::_name_type - -// std_msgs::msg::String_ > diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_seek_waypoint.cpp b/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_seek_waypoint.cpp deleted file mode 100644 index 2d82d6d73..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_seek_waypoint.cpp +++ /dev/null @@ -1,52 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -CbSeekWaypoint::CbSeekWaypoint(std::string seekWaypointName) -: count_(std::nullopt), seekWaypointName_(seekWaypointName) -{ -} - -CbSeekWaypoint::~CbSeekWaypoint() {} - -void CbSeekWaypoint::onEntry() -{ - cl_nitrosz::ClNitrosZ * nitroszClient_; - this->requiresClient(nitroszClient_); - waypointsNavigator_ = nitroszClient_->getComponent(); - - if (count_) - { - waypointsNavigator_->forward(*count_); - count_ = std::nullopt; - } - else if (seekWaypointName_) - { - waypointsNavigator_->seekName(*seekWaypointName_); - seekWaypointName_ = std::nullopt; - } -} - -void CbSeekWaypoint::onExit() {} - -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_stop_navigation.cpp b/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_stop_navigation.cpp deleted file mode 100644 index 0cae1120e..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_stop_navigation.cpp +++ /dev/null @@ -1,52 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -CbStopNavigation::CbStopNavigation() {} - -void CbStopNavigation::onEntry() -{ - // this->sendGoal(goal); - - // this->cancelGoal(); - - cl_nitrosz::Pose * poseComponent; - this->requiresComponent(poseComponent); - - this->setGoal(poseComponent->toPoseMsg()); - - CbNavigateGlobalPosition::onEntry(); - - // this->sendGoal(goal); -} - -void CbStopNavigation::onExit() {} - -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_undo_path_backwards.cpp b/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_undo_path_backwards.cpp deleted file mode 100644 index 853a868a9..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_undo_path_backwards.cpp +++ /dev/null @@ -1,124 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -using ::cl_nitrosz::odom_tracker::CpOdomTracker; -using ::cl_nitrosz::odom_tracker::WorkingMode; - -using namespace std::chrono_literals; - -CbUndoPathBackwards::CbUndoPathBackwards(std::optional options) -{ - options_ = options; -} - -void CbUndoPathBackwards::onEntry() -{ - listener = std::make_shared(this->getNode()->get_clock()); - odomTracker = nitroszClient_->getComponent(); - - odomTracker->logStateString(false); - - auto plannerSwitcher = nitroszClient_->getComponent(); - - nav_msgs::msg::Path forwardpath = odomTracker->getPath(); - // RCLCPP_INFO_STREAM(getLogger(),"[UndoPathBackward] Current path backwards: " << forwardpath); - - odomTracker->setWorkingMode(WorkingMode::CLEAR_PATH); - - ClNitrosZ::Goal goal; - - auto goalCheckerSwitcher = nitroszClient_->getComponent(); - - if (options_ && options_->goalCheckerId_) - { - goalCheckerSwitcher->setGoalCheckerId(*options_->goalCheckerId_); - } - else - { - goalCheckerSwitcher->setGoalCheckerId("undo_path_backwards_goal_checker"); - } - - // WARNING: There might be some race condition with the remote undo global planner were the global path was not - // received yet - // TODO: waiting notification from global planner that it is loaded - rclcpp::sleep_for(1s); - - // this line is used to flush/reset backward planner in the case it were already there - // plannerSwitcher->setDefaultPlanners(); - if (forwardpath.poses.size() > 0) - { - goal.pose = forwardpath.poses.front(); - //goal.pose.header.stamp = getNode()->now(); - goal.pose.header.stamp = rclcpp::Time(0); - - if (options_ && options_->undoControllerName_) - { - plannerSwitcher->setUndoPathBackwardPlanner(false); - RCLCPP_INFO_STREAM( - getLogger(), - "[" << getName() << "] Undoing path with controller: " << *options_->undoControllerName_); - plannerSwitcher->setDesiredController(*options_->undoControllerName_); - plannerSwitcher->commitPublish(); - } - else - { - plannerSwitcher->setUndoPathBackwardPlanner(); - } - - this->sendGoal(goal); - } -} - -void CbUndoPathBackwards::onExit() -{ - RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] Exiting: undo navigation "); - - if (this->navigationResult_ == rclcpp_action::ResultCode::SUCCEEDED) - { - RCLCPP_INFO_STREAM( - getLogger(), getName() << " - [CbUndoPathBackwards] Exiting: undo navigation successful, " - "popping odom tracker path"); - odomTracker = nitroszClient_->getComponent(); - odomTracker->popPath(); - - odomTracker->logStateString(false); - } - else - { - RCLCPP_INFO_STREAM( - getLogger(), getName() << " - [CbUndoPathBackwards] Exiting: undo navigation abort, avoiding " - "popping current path"); - - odomTracker = nitroszClient_->getComponent(); - odomTracker->logStateString(false); - // navigation interrupted or aborted. The path may be not totally undone. - // We keep the odom tracker in its current state, probably in the middle of the undoing process. - // Could you try to repeat the behavior? - } -} - -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_wait_nitros_nodes.cpp b/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_wait_nitros_nodes.cpp deleted file mode 100644 index a73744706..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_wait_nitros_nodes.cpp +++ /dev/null @@ -1,133 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -CbWaitNav2Nodes::CbWaitNav2Nodes(std::vector waitNodes) -: CbWaitNav2Nodes("/bond", waitNodes) -{ -} - -CbWaitNav2Nodes::CbWaitNav2Nodes(std::string topic, std::vector waitNodes) -: topicname_(topic), waitNodes_(waitNodes) -{ -} - -void CbWaitNav2Nodes::onMessageReceived(const bond::msg::Status & msg) -{ - auto value = fromString(msg.id); - bool updated = false; - // RCLCPP_INFO(getLogger(), "[CbWaitNav2Nodes] received '%s'", msg.id.c_str()); - - if (receivedAliveMsg_.count(value) && !receivedAliveMsg_[value]) - { - RCLCPP_INFO(getLogger(), "[CbWaitNav2Nodes] '%s' alive received", msg.id.c_str()); - receivedAliveMsg_[value] = true; - updated = true; - } - - if (updated) - { - bool success = true; - std::stringstream ss; - for (auto & pair : receivedAliveMsg_) - { - if (!pair.second) - { - success = false; - } - ss << "- " << toString(pair.first) << ": " << (pair.second ? "ALIVE" : "WAITING") - << std::endl; - } - - RCLCPP_INFO_STREAM( - getLogger(), "[CbWaitNav2Nodes] waiting nodes status:" << std::endl - << ss.str().c_str()); - - if (success) - { - RCLCPP_INFO(getLogger(), "[CbWaitNav2Nodes] success event"); - this->postSuccessEvent(); - sub_ = nullptr; - } - else - { - RCLCPP_INFO(getLogger(), "[CbWaitNav2Nodes] still missing nodes"); - } - } -} - -void CbWaitNav2Nodes::onEntry() -{ - std::stringstream ss; - for (auto v : waitNodes_) - { - receivedAliveMsg_[v] = false; - ss << "[CbWaitNav2Nodes] - " << toString(v) << ": waiting" << std::endl; - } - RCLCPP_INFO(getLogger(), ss.str().c_str()); - - //rclcpp::SensorDataQoS qos; - rclcpp::SubscriptionOptions sub_option; - - sub_ = getNode()->create_subscription( - topicname_, 20, std::bind(&CbWaitNav2Nodes::onMessageReceived, this, std::placeholders::_1), - sub_option); -} - -std::string toString(Nav2Nodes value) -{ - switch (value) - { - case Nav2Nodes::PlannerServer: - return "planner_server"; - case Nav2Nodes::ControllerServer: - return "controller_server"; - case Nav2Nodes::RecoveriesServer: - return "behavior_server"; - case Nav2Nodes::BtNavigator: - return "bt_navigator"; - case Nav2Nodes::MapServer: - return "map_server"; - default: - return ""; - } -} - -Nav2Nodes fromString(std::string id) -{ - if (id == "planner_server") - return Nav2Nodes::PlannerServer; - else if (id == "controller_server") - return Nav2Nodes::ControllerServer; - else if (id == "behavior_server") - return Nav2Nodes::RecoveriesServer; - else if (id == "bt_navigator") - return Nav2Nodes::BtNavigator; - else if (id == "map_server") - return Nav2Nodes::MapServer; - else - return Nav2Nodes::None; -} - -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_wait_pose.cpp b/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_wait_pose.cpp deleted file mode 100644 index ee3a2b2fd..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_wait_pose.cpp +++ /dev/null @@ -1,52 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -CbWaitPose::CbWaitPose() {} - -CbWaitPose::~CbWaitPose() {} - -void CbWaitPose::onEntry() -{ - auto pose = this->nitroszClient_->getComponent(); - try - { - pose->waitTransformUpdate(rclcpp::Rate(20)); - auto posemsg = pose->toPoseMsg(); - RCLCPP_INFO_STREAM(getLogger(), "[CbWaitPose] pose arrived: " << std::endl << posemsg); - } - catch (std::exception & ex) - { - RCLCPP_INFO(getLogger(), "[CbWaitPose] error getting the robot pose"); - this->postFailureEvent(); - return; - } - - RCLCPP_INFO(getLogger(), "[CbWaitPose] pose received"); - this->postSuccessEvent(); -} -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_wait_transform.cpp b/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_wait_transform.cpp deleted file mode 100644 index 2c242c2bd..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_wait_transform.cpp +++ /dev/null @@ -1,63 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -CbWaitTransform::CbWaitTransform( - std::string targetFrame, std::string referenceFrame, rclcpp::Duration timeout) -: targetFrame_(targetFrame), referenceFrame_(referenceFrame), timeout_(timeout) -{ -} - -CbWaitTransform::~CbWaitTransform() {} - -void CbWaitTransform::onEntry() -{ - RCLCPP_INFO( - getLogger(), "[CbWaitTransform] ref %s -> target %s", referenceFrame_.c_str(), - targetFrame_.c_str()); - - tfBuffer_ = std::make_shared(getNode()->get_clock()); - tfListener_ = std::make_shared(*tfBuffer_); - - tf2::Stamped transform; - try - { - auto transformstamped = - tfBuffer_->lookupTransform(targetFrame_, referenceFrame_, getNode()->now(), timeout_); - tf2::fromMsg(transformstamped, transform); - - result_ = transform; - - RCLCPP_INFO( - getLogger(), "[CbWaitTransform] Success wait transform ref %s -> target %s", - referenceFrame_.c_str(), targetFrame_.c_str()); - this->postSuccessEvent(); - } - catch (tf2::TransformException & ex) - { - RCLCPP_ERROR_STREAM( - getLogger(), "[CbWaitTransform] Failure waiting transform ( ref " - << targetFrame_ << "/ target " << referenceFrame_ << " - " << ex.what()); - this->postFailureEvent(); - } -} -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/common.cpp b/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/common.cpp deleted file mode 100644 index bec10359b..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/common.cpp +++ /dev/null @@ -1,64 +0,0 @@ -// 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 - -std::ostream & operator<<(std::ostream & out, const geometry_msgs::msg::Quaternion & msg) -{ - out << " Orientation [" << msg.x << " , " << msg.y << " , " << msg.z << ", " << msg.w - << "] , yaw: " << tf2::getYaw(msg); - return out; -} - -std::ostream & operator<<(std::ostream & out, const geometry_msgs::msg::Point & msg) -{ - out << "[" << msg.x << " , " << msg.y << " , " << msg.z << "]"; - return out; -} - -std::ostream & operator<<(std::ostream & out, const geometry_msgs::msg::Pose & msg) -{ - out << " p " << msg.position; - out << " q [" << msg.orientation.x << " , " << msg.orientation.y << " , " << msg.orientation.z - << ", " << msg.orientation.w << "]"; - return out; -} - -std::ostream & operator<<(std::ostream & out, const geometry_msgs::msg::PoseStamped & msg) -{ - out << msg.pose; - return out; -} - -std::ostream & operator<<(std::ostream & out, const nav2_msgs::action::NavigateToPose::Goal & msg) -{ - out << msg.pose; - return out; -} - -std::ostream & operator<<(std::ostream & out, const builtin_interfaces::msg::Time & msg) -{ - out << "seconds: " << rclcpp::Time(msg).seconds(); - return out; -} diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/components/amcl/cp_amcl.cpp b/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/components/amcl/cp_amcl.cpp deleted file mode 100644 index 339923708..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/components/amcl/cp_amcl.cpp +++ /dev/null @@ -1,43 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -CpAmcl::CpAmcl() {} - -CpAmcl::~CpAmcl() {} - -std::string CpAmcl::getName() const { return "AMCL"; } - -void CpAmcl::onInitialize() -{ - initalPosePub_ = getNode()->create_publisher( - "initialpose", rclcpp::QoS(10)); -} - -void CpAmcl::setInitialPose(const geometry_msgs::msg::PoseWithCovarianceStamped & initialpose) -{ - initalPosePub_->publish(initialpose); -} - -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/components/costmap_switch/cp_costmap_switch.cpp b/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/components/costmap_switch/cp_costmap_switch.cpp deleted file mode 100644 index 3f1ff2ca8..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/components/costmap_switch/cp_costmap_switch.cpp +++ /dev/null @@ -1,162 +0,0 @@ -// 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. - -#include - -namespace cl_nitrosz -{ -std::array CpCostmapSwitch::layerNames = { - "global_costmap/obstacles_layer", - "local_costmap/obstacles_layer" - "global_costmap/inflater_layer", - "local_costmap/inflater_layer"}; - -void CpCostmapSwitch::registerProxyFromDynamicReconfigureServer( - std::string costmapName, std::string enablePropertyName) -{ - RCLCPP_INFO(getLogger(), "[CpCostmapSwitch] registering costmap type: %s", costmapName.c_str()); - auto proxy = std::make_shared( - this->nitroszClient_->getName() + "/" + costmapName, enablePropertyName, getNode()); - costmapProxies[costmapName] = proxy; -} - -CpCostmapSwitch::CpCostmapSwitch() {} - -void CpCostmapSwitch::onInitialize() -{ - this->nitroszClient_ = dynamic_cast(owner_); - - if (this->nitroszClient_ == nullptr) - { - RCLCPP_ERROR(getLogger(), "the owner of the CpCostmapSwitch must be a ClNitrosZ"); - } - - registerProxyFromDynamicReconfigureServer( - getStandardCostmapName(StandardLayers::GLOBAL_OBSTACLES_LAYER)); - registerProxyFromDynamicReconfigureServer( - getStandardCostmapName(StandardLayers::LOCAL_OBSTACLES_LAYER)); - registerProxyFromDynamicReconfigureServer( - getStandardCostmapName(StandardLayers::GLOBAL_INFLATED_LAYER)); - registerProxyFromDynamicReconfigureServer( - getStandardCostmapName(StandardLayers::LOCAL_INFLATED_LAYER)); -} - -std::string CpCostmapSwitch::getStandardCostmapName(StandardLayers layertype) -{ - return CpCostmapSwitch::layerNames[(int)layertype]; -} - -bool CpCostmapSwitch::exists(std::string layerName) -{ - if (!this->costmapProxies.count(layerName)) - { - return false; - } - - return true; -} - -void CpCostmapSwitch::enable(std::string layerName) -{ - RCLCPP_INFO(getLogger(), "[CpCostmapSwitch] enabling %s", layerName.c_str()); - - if (!exists(layerName)) - { - RCLCPP_ERROR(getLogger(), "[CpCostmapSwitch] costmap %s does not exist", layerName.c_str()); - return; - } - else - { - RCLCPP_INFO( - getLogger(), "[CpCostmapSwitch] costmap %s found. Calling dynamic reconfigure server.", - layerName.c_str()); - costmapProxies[layerName]->setCostmapEnabled(true); - } -} - -void CpCostmapSwitch::enable(StandardLayers layerType) -{ - this->enable(getStandardCostmapName(layerType)); -} - -void CpCostmapSwitch::disable(std::string layerName) -{ - RCLCPP_INFO(getLogger(), "[CpCostmapSwitch] disabling %s", layerName.c_str()); - - if (!exists(layerName)) - { - RCLCPP_ERROR(getLogger(), "[CpCostmapSwitch] costmap %s does not exist", layerName.c_str()); - return; - } - else - { - RCLCPP_INFO( - getLogger(), "[CpCostmapSwitch] costmap %s found. Calling dynamic reconfigure server.", - layerName.c_str()); - costmapProxies[layerName]->setCostmapEnabled(false); - } -} - -void CpCostmapSwitch::disable(StandardLayers layerType) -{ - this->disable(getStandardCostmapName(layerType)); -} - -//------------------------------------------------------------------------- - -CpCostmapProxy::CpCostmapProxy( - std::string /*costmap_name*/, std::string /*enablePropertyName*/, rclcpp::Node::SharedPtr nh) -: nh_(nh) -{ - // this->costmapName_ = costmap_name + "/set_parameters"; - // dynamic_reconfigure::BoolParameter enableField; - // enableField.name = "enabled"; - // enableField.value = true; - - // enableReq.bools.push_back(enableField); - - // enableField.value = false; - // disableReq.bools.push_back(enableField); - RCLCPP_ERROR(nh->get_logger(), "costmap switch not implemented %s", costmapName_.c_str()); -} - -void CpCostmapProxy::setCostmapEnabled(bool /*value*/) -{ - // dynamic_reconfigure::ReconfigureRequest srv_req; - // dynamic_reconfigure::ReconfigureResponse srv_resp; - - // if (value) - // srv_req.config = enableReq; - // else - // srv_req.config = disableReq; - - // if (ros::service::exists(costmapName_, true)) - // { - // RCLCPP_INFO(getLogger(),"sending dynamic reconfigure request: %s", costmapName_.c_str()); - // ros::service::call(costmapName_, srv_req, srv_resp); - // } - // else - // { - // RCLCPP_WARN(getLogger(),"could not call dynamic reconfigure server. It does not exist: %s", costmapName_.c_str()); - // } - - RCLCPP_ERROR(nh_->get_logger(), "costmap switch not implemented %s", costmapName_.c_str()); -} - -// void CpCostmapProxy::dynreconfCallback(const dynamic_reconfigure::Config::ConstPtr &configuration_update) -// { -// // auto gp = std::find_if(configuration_update->strs.begin(), configuration_update->strs.begin(), -// // [&](const dynamic_reconfigure::StrParameter &p) { return p.name == "base_global_planner" && p.value == desired_global_planner_; }); -// } -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/components/goal_checker_switcher/cp_goal_checker_switcher.cpp b/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/components/goal_checker_switcher/cp_goal_checker_switcher.cpp deleted file mode 100644 index 8f219121f..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/components/goal_checker_switcher/cp_goal_checker_switcher.cpp +++ /dev/null @@ -1,75 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -CpGoalCheckerSwitcher::CpGoalCheckerSwitcher( - std::string goal_checker_selector_topic, std::string default_goal_checker_name) -: goal_checker_selector_topic_(goal_checker_selector_topic), - default_goal_checker_name_(default_goal_checker_name) -{ -} - -CpGoalCheckerSwitcher::~CpGoalCheckerSwitcher() {} - -void CpGoalCheckerSwitcher::onInitialize() -{ - rclcpp::QoS qos(rclcpp::KeepLast(1)); - qos.transient_local().reliable(); - - this->goal_checker_selector_pub_ = - getNode()->create_publisher(goal_checker_selector_topic_, qos); -} - -void CpGoalCheckerSwitcher::setDefaultGoalChecker() -{ - setGoalCheckerId(default_goal_checker_name_); // default id in navigation2 stack -} - -void CpGoalCheckerSwitcher::setGoalCheckerId(std::string goalcheckerid) -{ - RCLCPP_INFO_STREAM( - getLogger(), "[CpGoalCheckerSwitcher] Setting goal checker: " << goalcheckerid); - - // controller_server_node_->wait_for_service(); - // std::vector params{ rclcpp::Parameter("current_goal_checker", goalcheckerid) }; - // auto futureResults = controller_server_node_->set_parameters(params); - - std_msgs::msg::String msg; - msg.data = goalcheckerid; - this->goal_checker_selector_pub_->publish(msg); - - // int i = 0; - // for (auto& res : futureResults.get()) - // { - // RCLCPP_INFO_STREAM(getLogger(), "[CpGoalCheckerSwitcher] parameter result: " - // << params[i].get_name() << "=" << params[i].as_string() - // << ". Result: " << res.successful); - // i++; - - // if (!res.successful) - // RCLCPP_ERROR_STREAM(this->getLogger(), "[CpGoalCheckerSwitcher] goal checker could not properly - // switch " - // "the goal checker of the controller_server"); - // } -} - -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/components/odom_tracker/cp_odom_tracker.cpp b/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/components/odom_tracker/cp_odom_tracker.cpp deleted file mode 100644 index ff2e9b873..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/components/odom_tracker/cp_odom_tracker.cpp +++ /dev/null @@ -1,543 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -namespace odom_tracker -{ -CpOdomTracker::CpOdomTracker(std::string odomTopicName, std::string odomFrame) -{ - workingMode_ = WorkingMode::RECORD_PATH; - publishMessages = true; - subscribeToOdometryTopic_ = true; - odomFrame_ = odomFrame; - odomTopicName_ = odomTopicName; -} - -template -void parameterDeclareAndtryGetOrSet( - rclcpp::Node::SharedPtr & node, std::string param_name, T & value) -{ - if (!node->get_parameter(param_name, value)) - { - RCLCPP_INFO_STREAM( - node->get_logger(), "[CpOdomTracker] autoset " << param_name << ": " << value); - node->declare_parameter(param_name, value); - } - else - { - RCLCPP_INFO_STREAM(node->get_logger(), "[CpOdomTracker] " << param_name << ": " << value); - } -} - -void CpOdomTracker::onInitialize() -{ - // default values - recordPointDistanceThreshold_ = 0.005; // 5 mm - recordAngularDistanceThreshold_ = 0.1; // radians - clearPointDistanceThreshold_ = 0.05; // 5 cm - clearAngularDistanceThreshold_ = 0.1; // radi - - auto nh = getNode(); - RCLCPP_WARN(getLogger(), "[CpOdomTracker] Initializing Odometry Tracker"); - - parameterDeclareAndtryGetOrSet(nh, "odom_frame", this->odomFrame_); - parameterDeclareAndtryGetOrSet( - nh, "record_point_distance_threshold", recordPointDistanceThreshold_); - parameterDeclareAndtryGetOrSet( - nh, "record_angular_distance_threshold", recordAngularDistanceThreshold_); - parameterDeclareAndtryGetOrSet( - nh, "clear_point_distance_threshold", clearPointDistanceThreshold_); - parameterDeclareAndtryGetOrSet( - nh, "clear_angular_distance_threshold", clearAngularDistanceThreshold_); - - if (this->subscribeToOdometryTopic_) - { - RCLCPP_INFO_STREAM( - nh->get_logger(), "[CpOdomTracker] subscribing to odom topic: " << odomTopicName_); - - rclcpp::SensorDataQoS qos; - odomSub_ = nh->create_subscription( - odomTopicName_, qos, - std::bind(&CpOdomTracker::processOdometryMessage, this, std::placeholders::_1)); - } - - robotBasePathPub_ = - nh->create_publisher("odom_tracker_path", rclcpp::QoS(1)); - robotBasePathStackedPub_ = - nh->create_publisher("odom_tracker_stacked_path", rclcpp::QoS(1)); -} - -/** - ****************************************************************************************************************** - * setWorkingMode() - ****************************************************************************************************************** - */ -void CpOdomTracker::setWorkingMode(WorkingMode workingMode) -{ - // RCLCPP_INFO(getLogger(),"odom_tracker m_mutex acquire"); - std::lock_guard lock(m_mutex_); - - switch (workingMode) - { - case WorkingMode::RECORD_PATH: - RCLCPP_INFO_STREAM( - getLogger(), - "[CpOdomTracker] setting working mode to RECORD - record_point_distance_threshold: " - << recordPointDistanceThreshold_ - << ", record_angular_distance_threshold: " << recordAngularDistanceThreshold_); - break; - case WorkingMode::CLEAR_PATH: - RCLCPP_INFO_STREAM( - getLogger(), - "[CpOdomTracker] setting working mode to CLEAR - clear_point_distance_threshold: " - << clearPointDistanceThreshold_ - << ", clear_angular_distance_threshold: " << clearAngularDistanceThreshold_); - break; - case WorkingMode::IDLE: - RCLCPP_INFO_STREAM(getLogger(), "[CpOdomTracker] setting working mode to IDLE"); - break; - default: - - RCLCPP_INFO_STREAM(getLogger(), "[CpOdomTracker] setting working mode to "); - } - - workingMode_ = workingMode; - // RCLCPP_INFO(getLogger(),"odom_tracker m_mutex release"); -} - -/** - ****************************************************************************************************************** - * setPublishMessages() - ****************************************************************************************************************** - */ -void CpOdomTracker::setPublishMessages(bool value) -{ - // RCLCPP_INFO(getLogger(),"odom_tracker m_mutex acquire"); - std::lock_guard lock(m_mutex_); - publishMessages = value; - // RCLCPP_INFO(getLogger(),"odom_tracker m_mutex release"); - this->updateAggregatedStackPath(); -} - -void CpOdomTracker::pushPath() { this->pushPath(std::string()); } - -void CpOdomTracker::pushPath(std::string pathname) -{ - RCLCPP_INFO(getLogger(), "odom_tracker m_mutex acquire"); - std::lock_guard lock(m_mutex_); - this->logStateString(false); - - pathInfos_.push_back({currentPathName_, this->currentMotionGoal_}); - pathStack_.push_back(baseTrajectory_); - - geometry_msgs::msg::PoseStamped goalPose; - if (this->currentMotionGoal_) goalPose = *this->currentMotionGoal_; - - RCLCPP_INFO_STREAM( - getLogger(), "[CpOdomTracker] currentPathName: " << pathname - << " size: " << baseTrajectory_.poses.size() - << " current motion goal: " << goalPose); - - currentPathName_ = pathname; - - // clean the current trajectory to start a new one - baseTrajectory_.poses.clear(); - - this->logStateString(false); - this->updateAggregatedStackPath(); - - this->currentMotionGoal_.reset(); -} - -void CpOdomTracker::popPath(int popCount, bool keepPreviousPath) -{ - RCLCPP_INFO(getLogger(), "odom_tracker m_mutex acquire"); - std::lock_guard lock(m_mutex_); - - RCLCPP_INFO(getLogger(), "POP PATH ENTRY"); - this->logStateString(); - - if (!keepPreviousPath) - { - baseTrajectory_.poses.clear(); - } - - while (popCount > 0 && !pathStack_.empty()) - { - auto & stackedPath = pathStack_.back().poses; - auto & stackedPathInfo = pathInfos_.back(); - - baseTrajectory_.poses.insert( - baseTrajectory_.poses.begin(), stackedPath.begin(), stackedPath.end()); - this->currentMotionGoal_ = stackedPathInfo.goalPose; - pathStack_.pop_back(); - pathInfos_.pop_back(); - popCount--; - - RCLCPP_INFO(getLogger(), "POP PATH Iteration "); - this->logStateString(); - } - - RCLCPP_INFO(getLogger(), "POP PATH EXITING"); - this->logStateString(); - RCLCPP_INFO(getLogger(), "odom_tracker m_mutex release"); - this->updateAggregatedStackPath(); - - this->currentMotionGoal_.reset(); -} - -void CpOdomTracker::logStateString(bool debug) -{ - std::stringstream ss; - ss << "--- odom tracker state ---" << std::endl; - ss - << " - path stack -" << currentPathName_ << " - size:" - << pathStack_.size() - //<< " goal: " << (getCurrentMotionGoal()? getCurrentMotionGoal()->pose: geometry_msgs::msg::Pose()) - << std::endl; - ss << " - [STACK-HEAD active path size: " << baseTrajectory_.poses.size() << "]" << std::endl; - int i = 0; - for (auto & p : pathStack_ | boost::adaptors::reversed) - { - auto & pathinfo = pathInfos_[pathInfos_.size() - i - 1]; - std::string goalstr = "[]"; - if (pathinfo.goalPose) - { - std::stringstream ss; - ss << *(pathinfo.goalPose); - goalstr = ss.str(); - } - - ss << " - p " << i << "[" << p.header.stamp << "], size: " << p.poses.size() << " - " - << pathinfo.name << " - goal: " << goalstr << std::endl; - i++; - } - ss << "---"; - - if (debug) - RCLCPP_DEBUG(getLogger(), ss.str().c_str()); - else - RCLCPP_INFO(getLogger(), ss.str().c_str()); -} - -void CpOdomTracker::clearPath() -{ - std::lock_guard lock(m_mutex_); - baseTrajectory_.poses.clear(); - - rtPublishPaths(getNode()->now()); - this->logStateString(); - this->updateAggregatedStackPath(); - - this->currentMotionGoal_.reset(); -} - -void CpOdomTracker::setCurrentPathName(const std::string & currentPathName) -{ - currentPathName_ = currentPathName; -} - -void CpOdomTracker::setStartPoint(const geometry_msgs::msg::PoseStamped & pose) -{ - std::lock_guard lock(m_mutex_); - RCLCPP_INFO_STREAM(getLogger(), "[CpOdomTracker] set current path starting point: " << pose); - if (baseTrajectory_.poses.size() > 0) - { - baseTrajectory_.poses[0] = pose; - } - else - { - baseTrajectory_.poses.push_back(pose); - } - this->updateAggregatedStackPath(); -} - -void CpOdomTracker::setStartPoint(const geometry_msgs::msg::Pose & pose) -{ - std::lock_guard lock(m_mutex_); - RCLCPP_INFO_STREAM(getLogger(), "[CpOdomTracker] set current path starting point: " << pose); - geometry_msgs::msg::PoseStamped posestamped; - posestamped.header.frame_id = this->odomFrame_; - posestamped.header.stamp = getNode()->now(); - posestamped.pose = pose; - - if (baseTrajectory_.poses.size() > 0) - { - baseTrajectory_.poses[0] = posestamped; - } - else - { - baseTrajectory_.poses.push_back(posestamped); - } - this->updateAggregatedStackPath(); -} - -void CpOdomTracker::setCurrentMotionGoal(const geometry_msgs::msg::PoseStamped & pose) -{ - std::lock_guard lock(m_mutex_); - this->currentMotionGoal_ = pose; -} - -std::optional CpOdomTracker::getCurrentMotionGoal() -{ - std::lock_guard lock(m_mutex_); - return this->currentMotionGoal_; -} - -nav_msgs::msg::Path CpOdomTracker::getPath() -{ - std::lock_guard lock(m_mutex_); - return this->baseTrajectory_; -} - -/** - ****************************************************************************************************************** - * rtPublishPaths() - ****************************************************************************************************************** - */ -void CpOdomTracker::rtPublishPaths(rclcpp::Time timestamp) -{ - baseTrajectory_.header.stamp = timestamp; - robotBasePathPub_->publish(baseTrajectory_); - - aggregatedStackPathMsg_.header.stamp = timestamp; - robotBasePathStackedPub_->publish(aggregatedStackPathMsg_); -} - -void CpOdomTracker::updateAggregatedStackPath() -{ - aggregatedStackPathMsg_.poses.clear(); - for (auto & p : pathStack_) - { - aggregatedStackPathMsg_.poses.insert( - aggregatedStackPathMsg_.poses.end(), p.poses.begin(), p.poses.end()); - } - - aggregatedStackPathMsg_.header.frame_id = this->odomFrame_; -} - -/** - ****************************************************************************************************************** - * updateBackward() - ****************************************************************************************************************** - */ -bool CpOdomTracker::updateClearPath(const nav_msgs::msg::Odometry & odom) -{ - // we initially accept any message if the queue is empty - /// Track robot base pose - geometry_msgs::msg::PoseStamped base_pose; - - base_pose.pose = odom.pose.pose; - base_pose.header = odom.header; - baseTrajectory_.header = odom.header; - - bool acceptBackward = false; - bool clearingError = false; - bool finished = false; - - while (!finished) - { - if ( - baseTrajectory_.poses.size() <= - 1) // we at least keep always the first point of the forward path when clearing - // (this is important for backwards planner replanning and not losing the - // last goal) - { - acceptBackward = false; - finished = true; - } - else - { - auto & carrotPose = baseTrajectory_.poses.back().pose; - auto & carrotPoint = carrotPose.position; - - double carrotAngle = tf2::getYaw(carrotPose.orientation); - - auto & currePose = base_pose.pose; - auto & currePoint = currePose.position; - double currentAngle = tf2::getYaw(currePose.orientation); - - double lastpointdist = p2pDistance(carrotPoint, currePoint); - double goalAngleOffset = fabs(angles::shortest_angular_distance(carrotAngle, currentAngle)); - - acceptBackward = !baseTrajectory_.poses.empty() && - lastpointdist < clearPointDistanceThreshold_ && - goalAngleOffset < clearAngularDistanceThreshold_; - - clearingError = lastpointdist > 2 * clearPointDistanceThreshold_; - RCLCPP_DEBUG_STREAM( - getLogger(), "[CpOdomTracker] clearing (accepted: " << acceptBackward - << ") linerr: " << lastpointdist - << ", anglerr: " << goalAngleOffset); - } - - // RCLCPP_INFO(getLogger(),"Backwards, last distance: %lf < %lf accept: %d", dist, - // minPointDistanceBackwardThresh_, acceptBackward); - if ( - acceptBackward && - baseTrajectory_.poses.size() > 1) /* we always leave at least one item, specially interesting - for the backward local planner reach - the backwards goal with enough precision*/ - { - baseTrajectory_.poses.pop_back(); - } - else if (clearingError) - { - finished = true; - RCLCPP_WARN(getLogger(), "[CpOdomTracker] Incorrect odom clearing motion."); - } - else - { - finished = true; - /// Not removing point because it is enough far from the last cord point - } - } - - return acceptBackward; -} -/** - ****************************************************************************************************************** - * updateRecordPath() - ****************************************************************************************************************** - */ -bool CpOdomTracker::updateRecordPath(const nav_msgs::msg::Odometry & odom) -{ - /// Track robot base pose - geometry_msgs::msg::PoseStamped base_pose; - - base_pose.pose = odom.pose.pose; - base_pose.header = odom.header; - baseTrajectory_.header = odom.header; - - bool enqueueOdomMessage = false; - - double dist = -1; - if (baseTrajectory_.poses.empty()) - { - enqueueOdomMessage = true; - } - else - { - const auto & prevPose = baseTrajectory_.poses.back().pose; - const geometry_msgs::msg::Point & prevPoint = prevPose.position; - double prevAngle = tf2::getYaw(prevPose.orientation); - - const geometry_msgs::msg::Point & currePoint = base_pose.pose.position; - double currentAngle = tf2::getYaw(base_pose.pose.orientation); - - dist = p2pDistance(prevPoint, currePoint); - double goalAngleOffset = fabs(angles::shortest_angular_distance(prevAngle, currentAngle)); - - // RCLCPP_WARN(getLogger(),"dist %lf vs min %lf", dist, recordPointDistanceThreshold_); - - RCLCPP_WARN_THROTTLE(getLogger(), *getNode()->get_clock(), 2000, "odom received"); - - if (dist > recordPointDistanceThreshold_ || goalAngleOffset > recordAngularDistanceThreshold_) - { - enqueueOdomMessage = true; - } - else - { - // RCLCPP_WARN(getLogger(),"skip odom, dist: %lf", dist); - enqueueOdomMessage = false; - } - } - - if (enqueueOdomMessage) - { - RCLCPP_WARN_THROTTLE( - getLogger(), *getNode()->get_clock(), 2000, "enqueue odom tracker pose. dist %lf vs min %lf", - dist, recordPointDistanceThreshold_); - baseTrajectory_.poses.push_back(base_pose); - } - - return enqueueOdomMessage; -} - -/** - ****************************************************************************************************************** - * reconfigCB() - ****************************************************************************************************************** - */ -void CpOdomTracker::updateConfiguration() -{ - if (!getNode()->get_parameter("odom_frame", this->odomFrame_)) - { - } - - if (!getNode()->get_parameter("record_point_distance_threshold", recordPointDistanceThreshold_)) - { - } - - if (!getNode()->get_parameter( - "record_angular_distance_threshold", recordAngularDistanceThreshold_)) - { - } - - if (!getNode()->get_parameter("clear_point_distance_threshold", clearPointDistanceThreshold_)) - { - } - - if (!getNode()->get_parameter("clear_angular_distance_threshold", clearAngularDistanceThreshold_)) - { - } -} - -/** - ****************************************************************************************************************** - * processOdometryMessage() - ****************************************************************************************************************** - */ -void CpOdomTracker::processOdometryMessage(const nav_msgs::msg::Odometry::SharedPtr odom) -{ - RCLCPP_INFO_THROTTLE( - getLogger(), *getNode()->get_clock(), 5000, - "[odom_tracker] processing odom msg update heartbeat"); - std::lock_guard lock(m_mutex_); - - updateConfiguration(); - - if (workingMode_ == WorkingMode::RECORD_PATH) - { - updateRecordPath(*odom); - } - else if (workingMode_ == WorkingMode::CLEAR_PATH) - { - updateClearPath(*odom); - } - - // RCLCPP_WARN(getLogger(),"odomTracker odometry callback"); - if (publishMessages) - { - rtPublishPaths(odom->header.stamp); - } - - // RCLCPP_INFO(getLogger(),"odom_tracker m_mutex release"); -} -} // namespace odom_tracker -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/components/odom_tracker/cp_odom_tracker_node.cpp b/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/components/odom_tracker/cp_odom_tracker_node.cpp deleted file mode 100644 index fb788a460..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/components/odom_tracker/cp_odom_tracker_node.cpp +++ /dev/null @@ -1,123 +0,0 @@ -// 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 - -typedef actionlib::SimpleActionServer Server; - -using namespace odom_tracker; -using namespace cl_nitrosz::odom_tracker; - -class CpOdomTrackerActionServer -{ -public: - std::shared_ptr as_; - CpOdomTracker odomTracker; - - CpOdomTrackerActionServer() : odomTracker("move_base") {} - - /** -****************************************************************************************************************** -* execute() -****************************************************************************************************************** -*/ - void execute( - const CpOdomTrackerGoalConstPtr & goal) // Note: "Action" is not appended to DoDishes here - { - try - { - switch (goal->command) - { - case CpOdomTrackerGoal::RECORD_PATH: - odomTracker.setWorkingMode(WorkingMode::RECORD_PATH); - break; - - case CpOdomTrackerGoal::CLEAR_PATH: - odomTracker.setWorkingMode(WorkingMode::CLEAR_PATH); - break; - - case CpOdomTrackerGoal::IDLE: - odomTracker.setWorkingMode(WorkingMode::IDLE); - break; - - case CpOdomTrackerGoal::START_BROADCAST_PATH: - odomTracker.setPublishMessages(true); - break; - - case CpOdomTrackerGoal::STOP_BROADCAST_PATH: - odomTracker.setPublishMessages(false); - break; - - case CpOdomTrackerGoal::PUSH_PATH: - odomTracker.pushPath(); - break; - - case CpOdomTrackerGoal::POP_PATH: - odomTracker.popPath(); - break; - - default: - - RCLCPP_ERROR( - getLogger(), "Odom Tracker Node - Action Server execute error: incorrect command - %d", - goal->command); - as_->setAborted(); - } - - // never reach succeeded because were are interested in keeping the feedback alive - as_->setSucceeded(); - } - catch (std::exception & ex) - { - RCLCPP_ERROR(getLogger(), "Odom Tracker Node - Action Server execute error: %s", ex.what()); - as_->setAborted(); - } - } - - /** -****************************************************************************************************************** -* run() -****************************************************************************************************************** -*/ - void run() - { - rclcpp::Node::SharedPtr n; - RCLCPP_INFO(getLogger(), "Creating odom tracker action server"); - - as_ = std::make_shared( - n, "odom_tracker", - std::bind(&CpOdomTrackerActionServer::execute, this, std::placeholders::_1), false); - RCLCPP_INFO(getLogger(), "Starting CpOdomTracker Action Server"); - - as_->start(); - - ros::spin(); - } -}; - -int main(int argc, char ** argv) -{ - ros::init(argc, argv, "odom_tracker_node"); - CpOdomTrackerActionServer as; - - as.run(); -} diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/components/planner_switcher/cp_planner_switcher.cpp b/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/components/planner_switcher/cp_planner_switcher.cpp deleted file mode 100644 index 8178cfb56..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/components/planner_switcher/cp_planner_switcher.cpp +++ /dev/null @@ -1,109 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -using namespace std::chrono_literals; - -CpPlannerSwitcher::CpPlannerSwitcher() {} - -void CpPlannerSwitcher::onInitialize() -{ - rclcpp::QoS qos(rclcpp::KeepLast(1)); - qos.transient_local().reliable(); - - this->planner_selector_pub_ = - getNode()->create_publisher("planner_selector", qos); - this->controller_selector_pub_ = - getNode()->create_publisher("controller_selector", qos); -} - -void CpPlannerSwitcher::setDesiredGlobalPlanner(std::string plannerName) -{ - desired_planner_ = plannerName; -} - -void CpPlannerSwitcher::setDesiredController(std::string controllerName) -{ - desired_controller_ = controllerName; -} - -void CpPlannerSwitcher::setUndoPathBackwardPlanner(bool commit) -{ - RCLCPP_INFO(getLogger(), "[CpPlannerSwitcher] Planner Switcher: Trying to set BackwardPlanner"); - - desired_planner_ = "UndoPathGlobalPlanner"; - desired_controller_ = "BackwardLocalPlanner"; - - if (commit) commitPublish(); -} - -void CpPlannerSwitcher::setBackwardPlanner(bool commit) -{ - RCLCPP_INFO(getLogger(), "[CpPlannerSwitcher] Planner Switcher: Trying to set BackwardPlanner"); - - desired_planner_ = "BackwardGlobalPlanner"; - desired_controller_ = "BackwardLocalPlanner"; - - if (commit) commitPublish(); -} - -void CpPlannerSwitcher::setForwardPlanner(bool commit) -{ - RCLCPP_INFO(getLogger(), "[CpPlannerSwitcher] Planner Switcher: Trying to set ForwardPlanner"); - - desired_planner_ = "ForwardGlobalPlanner"; - desired_controller_ = "ForwardLocalPlanner"; - - if (commit) commitPublish(); -} - -void CpPlannerSwitcher::setPureSpinningPlanner(bool commit) -{ - RCLCPP_INFO( - getLogger(), "[CpPlannerSwitcher] Planner Switcher: Trying to set PureSpinningPlanner"); - - desired_planner_ = "ForwardGlobalPlanner"; - desired_controller_ = "PureSpinningLocalPlanner"; - - if (commit) commitPublish(); -} - -void CpPlannerSwitcher::setDefaultPlanners(bool commit) -{ - desired_planner_ = "GridBased"; - desired_controller_ = "FollowPath"; - - if (commit) commitPublish(); -} - -void CpPlannerSwitcher::commitPublish() -{ - std_msgs::msg::String planner_msg; - planner_msg.data = desired_planner_; - this->planner_selector_pub_->publish(planner_msg); - - std_msgs::msg::String controller_msg; - controller_msg.data = desired_controller_; - this->controller_selector_pub_->publish(controller_msg); -} -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/components/pose/cp_pose.cpp b/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/components/pose/cp_pose.cpp deleted file mode 100644 index efa964a36..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/components/pose/cp_pose.cpp +++ /dev/null @@ -1,153 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -using namespace std::chrono_literals; - -// static -std::shared_ptr Pose::tfListener_; -std::shared_ptr Pose::tfBuffer_; -std::mutex Pose::listenerMutex_; - -Pose::Pose(std::string targetFrame, std::string referenceFrame) -: isInitialized(false), poseFrameName_(targetFrame), referenceFrame_(referenceFrame) - -{ - this->pose_.header.frame_id = referenceFrame_; -} - -std::string referenceFrameToString(StandardReferenceFrames referenceFrame) -{ - switch (referenceFrame) - { - case StandardReferenceFrames::Map: - return "map"; - case StandardReferenceFrames::Odometry: - return "odom"; - default: - return "odom"; - } -} - -Pose::Pose(StandardReferenceFrames referenceFrame) -: Pose("base_link", referenceFrameToString(referenceFrame)) -{ -} - -void Pose::onInitialize() -{ - RCLCPP_INFO( - getLogger(), "[Pose] Creating Pose tracker component to track %s in the reference frame %s", - poseFrameName_.c_str(), referenceFrame_.c_str()); - - { - // singleton - std::lock_guard guard(listenerMutex_); - if (tfListener_ == nullptr) - { - tfBuffer_ = std::make_shared(getNode()->get_clock()); - tfListener_ = std::make_shared(*tfBuffer_); - } - } -} - -void Pose::waitTransformUpdate(rclcpp::Rate r) -{ - bool found = false; - RCLCPP_INFO(getLogger(), "[Pose Component] waitTransformUpdate"); - while (rclcpp::ok() && !found) - { - tf2::Stamped transform; - try - { - { - RCLCPP_INFO_THROTTLE( - getLogger(), *(getNode()->get_clock()), 1000, - "[Pose Component] waiting transform %s -> %s", referenceFrame_.c_str(), - poseFrameName_.c_str()); - std::lock_guard lock(listenerMutex_); - auto transformstamped = - tfBuffer_->lookupTransform(referenceFrame_, poseFrameName_, getNode()->now()); - tf2::fromMsg(transformstamped, transform); - } - - { - std::lock_guard guard(m_mutex_); - tf2::toMsg(transform, this->pose_.pose); - this->pose_.header.stamp = tf2_ros::toRclcpp(transform.stamp_); - found = true; - this->isInitialized = true; - } - } - catch (tf2::TransformException & ex) - { - RCLCPP_ERROR_STREAM_THROTTLE( - getLogger(), *(getNode()->get_clock()), 1000, - "[Component pose] (" << poseFrameName_ << "/[" << referenceFrame_ - << "] ) is failing on pose update : " << ex.what()); - } - - r.sleep(); - } - RCLCPP_INFO(getLogger(), "[Pose Component] waitTransformUpdate -> pose found!"); -} - -float Pose::getYaw() { return tf2::getYaw(pose_.pose.orientation); } - -float Pose::getX() { return pose_.pose.position.x; } -float Pose::getY() { return pose_.pose.position.y; } -float Pose::getZ() { return pose_.pose.position.z; } - -void Pose::update() -{ - tf2::Stamped transform; - try - { - { - std::lock_guard lock(listenerMutex_); - RCLCPP_DEBUG(getLogger(), "[pose] looking up transform"); - auto transformstamped = - tfBuffer_->lookupTransform(referenceFrame_, poseFrameName_, rclcpp::Time(0)); - tf2::fromMsg(transformstamped, transform); - } - - { - std::lock_guard guard(m_mutex_); - tf2::toMsg(transform, this->pose_.pose); - this->pose_.header.stamp = tf2_ros::toRclcpp(transform.stamp_); - this->isInitialized = true; - } - } - catch (tf2::TransformException & ex) - { - // RCLCPP_DEBUG(getLogger(), "[pose] EXCEPTION"); - RCLCPP_ERROR_STREAM_THROTTLE( - getLogger(), *(getNode()->get_clock()), 1000, - "[Component pose] (" << poseFrameName_ << "/[" << referenceFrame_ - << "] ) is failing on pose update : " << ex.what()); - } -} -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/components/slam_toolbox/cp_slam_toolbox.cpp b/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/components/slam_toolbox/cp_slam_toolbox.cpp deleted file mode 100644 index 1d72ac6f2..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/components/slam_toolbox/cp_slam_toolbox.cpp +++ /dev/null @@ -1,40 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -CpSlamToolbox::CpSlamToolbox() : state_(SlamToolboxState::Resumed) {} -CpSlamToolbox::~CpSlamToolbox() {} - -void CpSlamToolbox::toogleState() -{ - if (state_ == SlamToolboxState::Paused) - { - state_ = SlamToolboxState::Resumed; - } - else - { - state_ = SlamToolboxState::Paused; - } -} - -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/components/waypoints_navigator/cp_waypoints_event_dispatcher.cpp b/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/components/waypoints_navigator/cp_waypoints_event_dispatcher.cpp deleted file mode 100644 index ac13a4482..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/components/waypoints_navigator/cp_waypoints_event_dispatcher.cpp +++ /dev/null @@ -1,30 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -void WaypointEventDispatcher::postWaypointEvent(int index) -{ - auto & fn = postWaypointFn[index % WAYPOINTS_EVENTCOUNT]; - if (fn != nullptr) fn(); -} -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/components/waypoints_navigator/cp_waypoints_navigator.cpp b/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/components/waypoints_navigator/cp_waypoints_navigator.cpp deleted file mode 100644 index 87adf674b..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/components/waypoints_navigator/cp_waypoints_navigator.cpp +++ /dev/null @@ -1,566 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -using namespace std::chrono_literals; -CpWaypointNavigatorBase::CpWaypointNavigatorBase() : currentWaypoint_(0), waypoints_(0) {} - -CpWaypointNavigatorBase::~CpWaypointNavigatorBase() {} - -CpWaypointNavigator::CpWaypointNavigator() {} - -void CpWaypointNavigatorBase::onInitialize() {} - -void CpWaypointNavigator::onInitialize() { client_ = dynamic_cast(owner_); } - -void CpWaypointNavigator::onGoalCancelled(const ClNitrosZ::WrappedResult & /*res*/) -{ - stopWaitingResult(); - - this->onNavigationRequestCancelled(); -} - -void CpWaypointNavigator::onGoalAborted(const ClNitrosZ::WrappedResult & /*res*/) -{ - stopWaitingResult(); - - this->onNavigationRequestAborted(); -} - -void CpWaypointNavigator::onGoalReached(const ClNitrosZ::WrappedResult & /*res*/) -{ - waypointsEventDispatcher.postWaypointEvent(currentWaypoint_); - currentWaypoint_++; - RCLCPP_WARN( - getLogger(), "[CpWaypointNavigator] Goal result received, incrementing waypoint index: %ld", - currentWaypoint_); - stopWaitingResult(); - - this->notifyGoalReached(); - - onNavigationRequestSucceded(); -} - -void CpWaypointNavigatorBase::rewind(int /*count*/) -{ - currentWaypoint_--; - if (currentWaypoint_ < 0) currentWaypoint_ = 0; -} - -void CpWaypointNavigatorBase::forward(int /*count*/) -{ - currentWaypoint_++; - if (currentWaypoint_ >= (long)waypoints_.size() - 1) - currentWaypoint_ = (long)waypoints_.size() - 1; -} - -void CpWaypointNavigatorBase::seekName(std::string name) -{ - bool found = false; - - auto previousWaypoint = currentWaypoint_; - - while (!found && currentWaypoint_ < (long)waypoints_.size()) - { - auto & nextName = waypointsNames_[currentWaypoint_]; - RCLCPP_INFO( - getLogger(), "[CpWaypointNavigator] seeking ,%ld/%ld candidate waypoint: %s", - currentWaypoint_, waypoints_.size(), nextName.c_str()); - if (name == nextName) - { - found = true; - RCLCPP_INFO( - getLogger(), "[CpWaypointNavigator] found target waypoint: %s == %s-> found", - nextName.c_str(), name.c_str()); - } - else - { - RCLCPP_INFO( - getLogger(), "[CpWaypointNavigator] current waypoint: %s != %s -> forward", - nextName.c_str(), name.c_str()); - currentWaypoint_++; - } - } - - if (found) - { - if (currentWaypoint_ >= (long)waypoints_.size() - 1) - currentWaypoint_ = (long)waypoints_.size() - 1; - } - else // search backwards - { - currentWaypoint_ = previousWaypoint; - while (!found && currentWaypoint_ > 0) - { - auto & nextName = waypointsNames_[currentWaypoint_]; - RCLCPP_INFO( - getLogger(), "[CpWaypointNavigator] seeking , candidate waypoint: %s", nextName.c_str()); - if (name == nextName) - { - found = true; - RCLCPP_INFO( - getLogger(), "[CpWaypointNavigator] found target waypoint: %s == %s-> found", - nextName.c_str(), name.c_str()); - } - else - { - RCLCPP_INFO( - getLogger(), "[CpWaypointNavigator] current waypoint: %s != %s -> rewind", - nextName.c_str(), name.c_str()); - currentWaypoint_--; - } - } - } - - RCLCPP_INFO( - getLogger(), "[CpWaypointNavigator] seekName( %s), previous index: %ld, after index: %ld", - name.c_str(), previousWaypoint, currentWaypoint_); -} - -void CpWaypointNavigatorBase::loadWaypointsFromYamlParameter( - std::string parameter_name, std::string yaml_file_package_name) -{ - // if it is the first time and the waypoints navigator is not configured - std::string planfilepath; - planfilepath = getNode()->declare_parameter(parameter_name, planfilepath); - RCLCPP_INFO(getLogger(), "waypoints plan parameter: %s", planfilepath.c_str()); - if (getNode()->get_parameter(parameter_name, planfilepath)) - { - std::string package_share_directory = - ament_index_cpp::get_package_share_directory(yaml_file_package_name); - - RCLCPP_INFO(getLogger(), "file macro path: %s", planfilepath.c_str()); - - boost::replace_all(planfilepath, "$(pkg_share)", package_share_directory); - - RCLCPP_INFO(getLogger(), "package share path: %s", package_share_directory.c_str()); - RCLCPP_INFO(getLogger(), "waypoints plan file: %s", planfilepath.c_str()); - - this->loadWayPointsFromFile(planfilepath); - RCLCPP_INFO(getLogger(), "waypoints plan: %s", planfilepath.c_str()); - } - else - { - RCLCPP_ERROR(getLogger(), "waypoints plan file not found: NONE"); - } -} - -void CpWaypointNavigator::stopWaitingResult() -{ - if (succeddedNav2ZClientConnection_.connected()) - { - this->succeddedNav2ZClientConnection_.disconnect(); - this->cancelledNav2ZClientConnection_.disconnect(); - this->abortedNav2ZClientConnection_.disconnect(); - } -} - -std::optional>>> -CpWaypointNavigator::sendNextGoal( - std::optional options, - cl_nitrosz::ClNitrosZ::SmaccNavigateResultSignal::WeakPtr resultCallback) -{ - if (currentWaypoint_ >= 0 && currentWaypoint_ < (int)waypoints_.size()) - { - auto & next = waypoints_[currentWaypoint_]; - - std::string nextName; - if ((long)waypointsNames_.size() > currentWaypoint_) - { - nextName = waypointsNames_[currentWaypoint_]; - RCLCPP_INFO( - getLogger(), "[CpWaypointNavigator] sending goal, waypoint: %s", nextName.c_str()); - } - else - { - RCLCPP_INFO( - getLogger(), "[CpWaypointNavigator] sending goal, waypoint: %ld", currentWaypoint_); - } - - ClNitrosZ::Goal goal; - auto p = client_->getComponent(); - auto pose = p->toPoseMsg(); - - // configuring goal - goal.pose.header.frame_id = p->getReferenceFrame(); - //goal.pose.header.stamp = getNode()->now(); - goal.pose.pose = next; - - auto plannerSwitcher = client_->getComponent(); - plannerSwitcher->setDefaultPlanners(false); - if (options && options->controllerName_) - { - RCLCPP_WARN( - getLogger(), "[WaypointsNavigator] override controller: %s", - options->controllerName_->c_str()); - - plannerSwitcher->setDesiredController(*options->controllerName_); - } - else - { - RCLCPP_WARN(getLogger(), "[WaypointsNavigator] Configuring default planners"); - } - - auto goalCheckerSwitcher = client_->getComponent(); - - if (options && options->goalCheckerName_) - { - RCLCPP_WARN( - getLogger(), "[WaypointsNavigator] override goal checker: %s", - options->goalCheckerName_->c_str()); - - goalCheckerSwitcher->setGoalCheckerId(*options->goalCheckerName_); - } - else - { - RCLCPP_WARN(getLogger(), "[WaypointsNavigator] Configuring default goal checker"); - goalCheckerSwitcher->setGoalCheckerId("goal_checker"); - } - - plannerSwitcher->commitPublish(); - - // publish stuff - // rclcpp::sleep_for(5s); - - RCLCPP_INFO(getLogger(), "[WaypointsNavigator] Getting odom tracker"); - auto odomTracker = client_->getComponent(); - if (odomTracker != nullptr) - { - RCLCPP_INFO(getLogger(), "[WaypointsNavigator] Storing path in odom tracker"); - - auto pathname = this->owner_->getStateMachine()->getCurrentState()->getName() + " - " + - getName() + " - " + nextName; - odomTracker->pushPath(pathname); - odomTracker->setStartPoint(pose); - odomTracker->setWorkingMode(cl_nitrosz::odom_tracker::WorkingMode::RECORD_PATH); - } - - // SEND GOAL - // if (!succeddedNav2ZClientConnection_.connected()) - // { - // this->succeddedNav2ZClientConnection_ = - // client_->onSucceeded(&WaypointNavigator::onGoalReached, this); - // this->cancelledNav2ZClientConnection_ = - // client_->onAborted(&WaypointNavigator::onGoalCancelled, this); - // this->abortedNav2ZClientConnection_ = - // client_->onCancelled(&WaypointNavigator::onGoalAborted, this); - // } - - auto callbackptr = resultCallback.lock(); - succeddedNav2ZClientConnection_ = this->getStateMachine()->createSignalConnection( - *callbackptr, &CpWaypointNavigator::onNavigationResult, this); - - return client_->sendGoal(goal, resultCallback); - } - else - { - RCLCPP_WARN( - getLogger(), - "[CpWaypointsNavigator] All waypoints were consumed. There is no more waypoints available."); - } - - return std::nullopt; -} - -void CpWaypointNavigatorBase::notifyGoalReached() -{ - // when it is the last waypoint post an finalization EOF event - if (currentWaypoint_ == (long)waypoints_.size() - 1) - { - RCLCPP_WARN(getLogger(), "[CpWaypointNavigator] Last waypoint reached, posting EOF event. "); - this->postEvent(); - } -} - -void CpWaypointNavigator::onNavigationResult(const ClNitrosZ::WrappedResult & r) -{ - if (r.code == rclcpp_action::ResultCode::SUCCEEDED) - { - this->onGoalReached(r); - } - else if (r.code == rclcpp_action::ResultCode::ABORTED) - { - this->onGoalAborted(r); - } - else if (r.code == rclcpp_action::ResultCode::CANCELED) - { - this->onGoalCancelled(r); - } - else - { - this->onGoalAborted(r); - } -} - -void CpWaypointNavigatorBase::insertWaypoint(int index, geometry_msgs::msg::Pose & newpose) -{ - if (index >= 0 && index <= (int)waypoints_.size()) - { - waypoints_.insert(waypoints_.begin(), index, newpose); - } -} - -void CpWaypointNavigatorBase::setWaypoints(const std::vector & waypoints) -{ - this->waypoints_ = waypoints; -} - -void CpWaypointNavigatorBase::setWaypoints(const std::vector & waypoints) -{ - waypoints_.clear(); - waypointsNames_.clear(); - int i = 0; - for (auto & p : waypoints) - { - geometry_msgs::msg::Pose pose; - pose.position.x = p.x_; - pose.position.y = p.y_; - pose.position.z = 0.0; - tf2::Quaternion q; - q.setRPY(0, 0, p.yaw_); - pose.orientation = tf2::toMsg(q); - - waypoints_.push_back(pose); - waypointsNames_.push_back(std::to_string(i++)); - } -} - -void CpWaypointNavigatorBase::removeWaypoint(int index) -{ - if (index >= 0 && index < (int)waypoints_.size()) - { - waypoints_.erase(waypoints_.begin() + index); - } -} - -const std::vector & CpWaypointNavigatorBase::getWaypoints() const -{ - return waypoints_; -} - -geometry_msgs::msg::Pose CpWaypointNavigatorBase::getPose(int index) const -{ - if (index >= 0 && index < (int)waypoints_.size()) - { - return waypoints_[index]; - } - else - { - throw std::out_of_range("Waypoint index out of range"); - } -} -geometry_msgs::msg::Pose CpWaypointNavigatorBase::getCurrentPose() const -{ - if (currentWaypoint_ >= 0 && currentWaypoint_ < (int)waypoints_.size()) - { - return waypoints_[currentWaypoint_]; - } - else - { - throw std::out_of_range("Waypoint index out of range"); - } -} - -std::optional CpWaypointNavigatorBase::getNamedPose( - std::string name) const -{ - if (this->waypointsNames_.size() > 0) - { - for (int i = 0; i < (int)this->waypointsNames_.size(); i++) - { - if (this->waypointsNames_[i] == name) - { - return this->waypoints_[i]; - } - } - } - - return std::nullopt; -} - -const std::vector & CpWaypointNavigatorBase::getWaypointNames() const -{ - return waypointsNames_; -} - -std::optional CpWaypointNavigatorBase::getCurrentWaypointName() const -{ - if (currentWaypoint_ >= 0 && currentWaypoint_ < (int)waypointsNames_.size()) - { - return waypointsNames_[currentWaypoint_]; - } - return std::nullopt; -} - -long CpWaypointNavigatorBase::getCurrentWaypointIndex() const { return currentWaypoint_; } - -#define HAVE_NEW_YAMLCPP -void CpWaypointNavigatorBase::loadWayPointsFromFile(std::string filepath) -{ - RCLCPP_INFO_STREAM(getLogger(), "[CpWaypointNavigatorBase] Loading file:" << filepath); - this->waypoints_.clear(); - std::ifstream ifs(filepath.c_str(), std::ifstream::in); - if (ifs.good() == false) - { - throw std::string("Waypoints file not found"); - } - - try - { -#ifdef HAVE_NEW_YAMLCPP - YAML::Node node = YAML::Load(ifs); -#else - YAML::Parser parser(ifs); - parser.GetNextDocument(node); -#endif - -#ifdef HAVE_NEW_YAMLCPP - const YAML::Node & wp_node_tmp = node["waypoints"]; - const YAML::Node * wp_node = wp_node_tmp ? &wp_node_tmp : NULL; -#else - const YAML::Node * wp_node = node.FindValue("waypoints"); -#endif - - if (wp_node != NULL) - { - for (int64_t i = 0; i < wp_node->size(); ++i) - { - // Parse waypoint entries on YAML - geometry_msgs::msg::Pose wp; - - try - { - // (*wp_node)[i]["name"] >> wp.name; - // (*wp_node)[i]["frame_id"] >> wp.header.frame_id; - - auto wpnodei = (*wp_node)[i]; - wp.position.x = wpnodei["position"]["x"].as(); - wp.position.y = wpnodei["position"]["y"].as(); - wp.position.z = wpnodei["position"]["z"].as(); - wp.orientation.x = wpnodei["orientation"]["x"].as(); - wp.orientation.y = wpnodei["orientation"]["y"].as(); - wp.orientation.z = wpnodei["orientation"]["z"].as(); - wp.orientation.w = wpnodei["orientation"]["w"].as(); - - if (wpnodei["name"].IsDefined()) - { - this->waypointsNames_.push_back(wpnodei["name"].as()); - } - - this->waypoints_.push_back(wp); - } - catch (...) - { - RCLCPP_ERROR(getLogger(), "parsing waypoint file, syntax error in point %ld", i); - } - } - RCLCPP_INFO_STREAM(getLogger(), "Parsed " << this->waypoints_.size() << " waypoints."); - } - else - { - RCLCPP_WARN_STREAM(getLogger(), "Couldn't find any waypoints in the provided yaml file."); - } - } - catch (const YAML::ParserException & ex) - { - RCLCPP_ERROR_STREAM( - getLogger(), "Error loading the Waypoints YAML file. Incorrect syntax: " << ex.what()); - } -} - -void CpWaypointNavigatorBase::loadWayPointsFromFile2(std::string filepath) -{ - RCLCPP_INFO_STREAM(getLogger(), "[CpWaypointNavigator] Loading file:" << filepath); - this->waypoints_.clear(); - std::ifstream ifs(filepath.c_str(), std::ifstream::in); - if (ifs.good() == false) - { - throw std::string("Waypoints file not found"); - } - - try - { -#ifdef HAVE_NEW_YAMLCPP - YAML::Node node = YAML::Load(ifs); -#else - YAML::Parser parser(ifs); - parser.GetNextDocument(node); -#endif - -#ifdef HAVE_NEW_YAMLCPP - const YAML::Node & wp_node_tmp = node["waypoints"]; - const YAML::Node * wp_node = wp_node_tmp ? &wp_node_tmp : NULL; -#else - const YAML::Node * wp_node = node.FindValue("waypoints"); -#endif - - if (wp_node != NULL) - { - for (int64_t i = 0; i < wp_node->size(); ++i) - { - // Parse waypoint entries on YAML - geometry_msgs::msg::Pose wp; - - try - { - // (*wp_node)[i]["name"] >> wp.name; - // (*wp_node)[i]["frame_id"] >> wp.header.frame_id; - wp.position.x = (*wp_node)[i]["x"].as(); - wp.position.y = (*wp_node)[i]["y"].as(); - auto name = (*wp_node)[i]["name"].as(); - - this->waypoints_.push_back(wp); - this->waypointsNames_.push_back(name); - } - catch (...) - { - RCLCPP_ERROR(getLogger(), "parsing waypoint file, syntax error in point %ld", i); - } - } - RCLCPP_INFO_STREAM(getLogger(), "Parsed " << this->waypoints_.size() << " waypoints."); - } - else - { - RCLCPP_WARN_STREAM(getLogger(), "Couldn't find any waypoints in the provided yaml file."); - } - } - catch (const YAML::ParserException & ex) - { - RCLCPP_ERROR_STREAM( - getLogger(), "Error loading the Waypoints YAML file. Incorrect syntax: " << ex.what()); - } -} -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/components/waypoints_navigator/cp_waypoints_visualizer.cpp b/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/components/waypoints_navigator/cp_waypoints_visualizer.cpp deleted file mode 100644 index 964df0f70..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/components/waypoints_navigator/cp_waypoints_visualizer.cpp +++ /dev/null @@ -1,156 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -const std::string frameid = "map"; - -CpWaypointsVisualizer::CpWaypointsVisualizer(rclcpp::Duration duration) : ISmaccUpdatable(duration) -{ -} - -void CpWaypointsVisualizer::onInitialize() -{ - markersPub_ = getNode()->create_publisher( - "cp_waypoints_visualizer/visualization_markers", rclcpp::QoS(rclcpp::KeepLast(1))); - - this->requiresComponent(waypointsNavigator_); - auto & waypoints = waypointsNavigator_->getWaypoints(); - auto & waypointsNames = waypointsNavigator_->getWaypointNames(); - - int i = 0; - for (auto & waypoint : waypoints) - { - std::string name; - if ((long)waypointsNames.size() > i) - { - name = waypointsNames[i]; - } - else - { - name = "waypoint_" + std::to_string(i); - } - - visualization_msgs::msg::Marker marker; - createMarker(waypoint, marker); - markers_.markers.push_back(marker); - - visualization_msgs::msg::Marker markerlabel; - createMarkerLabel(waypoint, name, markerlabel); - markerLabels_.markers.push_back(markerlabel); - - i++; - } -} - -void CpWaypointsVisualizer::createMarkerLabel( - const geometry_msgs::msg::Pose & waypoint, std::string label, - visualization_msgs::msg::Marker & marker) -{ - marker.header.frame_id = frameid; - marker.header.stamp = getNode()->now(); - marker.ns = "waypoints_labels"; - - marker.id = markers_.markers.size(); - marker.type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING; - marker.action = visualization_msgs::msg::Marker::ADD; - marker.scale.x = 0.3; - marker.scale.y = 0.3; - marker.scale.z = 0.3; - marker.text = label; - - marker.color.a = 1.0; - marker.pose = waypoint; - marker.pose.position.z += 0.3; -} - -void CpWaypointsVisualizer::createMarker( - const geometry_msgs::msg::Pose & waypoint, visualization_msgs::msg::Marker & marker) -{ - marker.header.frame_id = frameid; - marker.header.stamp = getNode()->now(); - marker.ns = "waypoints"; - - marker.id = markers_.markers.size(); - marker.type = visualization_msgs::msg::Marker::SPHERE; - marker.action = visualization_msgs::msg::Marker::ADD; - marker.scale.x = 0.1; - marker.scale.y = 0.1; - marker.scale.z = 0.1; - - marker.color.a = 1.0; - marker.pose = waypoint; -} - -void CpWaypointsVisualizer::update() -{ - std::lock_guard guard(m_mutex_); - - auto index = waypointsNavigator_->getCurrentWaypointIndex(); - - int i = 0; - - for (auto & marker : markers_.markers) - { - marker.header.stamp = getNode()->now(); - - if (i >= index) - { - marker.color.r = 1.0; - marker.color.g = 0; - marker.color.b = 0; - } - else - { - marker.color.r = 0.0; - marker.color.g = 1.0; - marker.color.b = 0; - } - i++; - } - - i = 0; - for (auto & marker : markerLabels_.markers) - { - marker.header.stamp = getNode()->now(); - - if (i >= index) - { - marker.color.r = 1.0; - marker.color.g = 0; - marker.color.b = 0; - } - else - { - marker.color.r = 0.0; - marker.color.g = 1.0; - marker.color.b = 0; - } - i++; - } - - //markers_.header.stamp = getNode()->now(); - markersPub_->publish(markers_); - markersPub_->publish(markerLabels_); -} - -} // namespace cl_nitrosz diff --git a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/nitrosz_client.cpp b/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/nitrosz_client.cpp deleted file mode 100644 index da489b77b..000000000 --- a/smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/nitrosz_client.cpp +++ /dev/null @@ -1,39 +0,0 @@ -// 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 - -namespace cl_nitrosz -{ -typedef smacc2::client_bases::SmaccActionClientBase Base; -typedef Base::WrappedResult WrappedResult; - -ClNitrosZ::ClNitrosZ(std::string moveBaseName) : Base(moveBaseName) -{ - // RCLCPP_INFO(getLogger(),"Smacc Move Base Action Client"); -} - -ClNitrosZ::~ClNitrosZ() {} -} // namespace cl_nitrosz - -PLUGINLIB_EXPORT_CLASS(cl_nitrosz::ClNitrosZ, smacc2::ISmaccClient)