[WIP][TEST]Mppi eigen #13

jdgalviss · 2024-12-16T16:27:56Z

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(add tickets here #1)
Primary OS tested on	(Ubuntu, MacOS, Windows)
Robotic platform tested on	(Steve's Robot, gazebo simulation of Tally, hardware turtlebot)
Does this PR contain AI generated software?	(No; Yes and it is marked inline in the code)

Description of contribution in a few bullet points

Description of documentation updates required from your changes

Future work that may be required in bullet points

For Maintainers:

Check that any new parameters added are updated in docs.nav2.org
Check that any significant change is added to the migration guide
Check that any new features OR changes to existing behaviors are reflected in the tuning guide
Check that any new functions have Doxygen added
Check that any new features have test coverage
Check that any new plugins is added to the plugins page
If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

Signed-off-by: Ayush1285 <[email protected]>

… files Signed-off-by: Ayush1285 <[email protected]>

Signed-off-by: Ayush1285 <[email protected]>

…ator Signed-off-by: Ayush1285 <[email protected]>

Signed-off-by: Ayush1285 <[email protected]>

…ally Signed-off-by: Ayush1285 <[email protected]>

Signed-off-by: Ayush1285 <[email protected]>

…th common ROS 2 launch syntax (ros-navigation#4811) * Changed cloned_multi_tb3_simulation_launch.py file to conform with common ROS 2 launch syntax and thereby allow for including it in other launch files as expected Signed-off-by: Tanner, Gilbert <[email protected]> * chore: Changed formatting to conform to flake8 linting rules Signed-off-by: Tanner, Gilbert <[email protected]> chore: Changed formatting to conform to flake8 linting rules II Signed-off-by: Tanner, Gilbert <[email protected]> chore: Changed formatting to conform to flake8 linting rules III Signed-off-by: Tanner, Gilbert <[email protected]> chore: Changed formatting to conform to flake8 linting rules IV Signed-off-by: Tanner, Gilbert <[email protected]> * Changed ParseMultiRobotPose to be a launch substitution class Signed-off-by: Tanner, Gilbert <[email protected]> * chore: Changed formatting to conform to flake8 linting rules II Signed-off-by: Tanner, Gilbert <[email protected]> * Changed formatting based on PR feedback Signed-off-by: Tanner, Gilbert <[email protected]> * Undo removal of position parsing options Signed-off-by: Tanner, Gilbert <[email protected]> --------- Signed-off-by: Tanner, Gilbert <[email protected]>

* Add IsStoppedBTNode Signed-off-by: Tony Najjar <[email protected]> * add topic name + reformat Signed-off-by: Tony Najjar <[email protected]> * fix comment Signed-off-by: Tony Najjar <[email protected]> * fix abs Signed-off-by: Tony Najjar <[email protected]> * remove log Signed-off-by: Tony Najjar <[email protected]> * add getter functions for raw twist Signed-off-by: Tony Najjar <[email protected]> * remove unused code Signed-off-by: Tony Najjar <[email protected]> * use odomsmoother Signed-off-by: Tony Najjar <[email protected]> * fix formatting Signed-off-by: Tony Najjar <[email protected]> * update groot Signed-off-by: Tony Najjar <[email protected]> * Add test Signed-off-by: Tony Najjar <[email protected]> * reset at success Signed-off-by: Tony Najjar <[email protected]> * FIX velocity_threshold_ Signed-off-by: Tony Najjar <[email protected]> * Fix stopped Node Signed-off-by: Tony Najjar <[email protected]> * Add tests to odometry_utils Signed-off-by: Tony Najjar <[email protected]> * fix linting Signed-off-by: Tony Najjar <[email protected]> * Use PoseStampedArray Signed-off-by: Tony Najjar <[email protected]> * fix Signed-off-by: Tony Najjar <[email protected]> * fixes Signed-off-by: Tony Najjar <[email protected]> * fix Signed-off-by: Tony Najjar <[email protected]> * fix Signed-off-by: Tony Najjar <[email protected]> * fix Signed-off-by: Tony Najjar <[email protected]> * use geometry_msgs Signed-off-by: Tony Najjar <[email protected]> * more fixes Signed-off-by: Tony Najjar <[email protected]> * . Signed-off-by: Tony Najjar <[email protected]> * revert Signed-off-by: Tony Najjar <[email protected]> * . Signed-off-by: Tony Najjar <[email protected]> * fix Signed-off-by: Tony Najjar <[email protected]> * fix Signed-off-by: Tony Najjar <[email protected]> * update Signed-off-by: Tony Najjar <[email protected]> * fix bt_utils Signed-off-by: Tony Najjar <[email protected]> * fix import Signed-off-by: Tony Najjar <[email protected]> * populate Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]>

Signed-off-by: Michael Ferguson <[email protected]>

…eding time allowance (ros-navigation#4836) Until now, the NONE error code was returned when exceeding the time allowance. Let's return the more appropriate TIMEOUT error code instead. Signed-off-by: Dylan De Coeyer <[email protected]>

* fix bug in orientation filtering some global planners output all zeros for orientation, however the plan is in the global frame. when transforming to the local frame, the orientation is no longer zero. Instead of comparing to zero, we simply check if all the orientations in the middle of the plan are equal Signed-off-by: Michael Ferguson <[email protected]> * account for floating point error Signed-off-by: Michael Ferguson <[email protected]> --------- Signed-off-by: Michael Ferguson <[email protected]>

Signed-off-by: Silvio Traversaro <[email protected]>

* Add IsStoppedBTNode Signed-off-by: Tony Najjar <[email protected]> * add topic name + reformat Signed-off-by: Tony Najjar <[email protected]> * fix comment Signed-off-by: Tony Najjar <[email protected]> * fix abs Signed-off-by: Tony Najjar <[email protected]> * remove log Signed-off-by: Tony Najjar <[email protected]> * add getter functions for raw twist Signed-off-by: Tony Najjar <[email protected]> * remove unused code Signed-off-by: Tony Najjar <[email protected]> * use odomsmoother Signed-off-by: Tony Najjar <[email protected]> * fix formatting Signed-off-by: Tony Najjar <[email protected]> * update groot Signed-off-by: Tony Najjar <[email protected]> * Add test Signed-off-by: Tony Najjar <[email protected]> * reset at success Signed-off-by: Tony Najjar <[email protected]> * FIX velocity_threshold_ Signed-off-by: Tony Najjar <[email protected]> * Fix stopped Node Signed-off-by: Tony Najjar <[email protected]> * Add tests to odometry_utils Signed-off-by: Tony Najjar <[email protected]> * fix linting Signed-off-by: Tony Najjar <[email protected]> * Adapt goalUpdater to modify goals as well Signed-off-by: Tony Najjar <[email protected]> * fix formatting Signed-off-by: Tony Najjar <[email protected]> * fixes Signed-off-by: Tony Najjar <[email protected]> * change name of msg Signed-off-by: Tony Najjar <[email protected]> * Make input goals be Goals again for compatibility Signed-off-by: Tony Najjar <[email protected]> * fix Signed-off-by: Tony Najjar <[email protected]> * Revert "fix" This reverts commit 8303cdc. Signed-off-by: Tony Najjar <[email protected]> * refactoring Signed-off-by: Tony Najjar <[email protected]> * ament Signed-off-by: Tony Najjar <[email protected]> * ignore if no timestamps Signed-off-by: Tony Najjar <[email protected]> * facepalm Signed-off-by: Tony Najjar <[email protected]> * update groot nodes Signed-off-by: Tony Najjar <[email protected]> * Use PoseStampedArray Signed-off-by: Tony Najjar <[email protected]> * fix Signed-off-by: Tony Najjar <[email protected]> * fixes Signed-off-by: Tony Najjar <[email protected]> * fix Signed-off-by: Tony Najjar <[email protected]> * fix Signed-off-by: Tony Najjar <[email protected]> * fix Signed-off-by: Tony Najjar <[email protected]> * use geometry_msgs Signed-off-by: Tony Najjar <[email protected]> * fix import Signed-off-by: Tony Najjar <[email protected]> * use geometry_msgs Signed-off-by: Tony Najjar <[email protected]> * more fixes Signed-off-by: Tony Najjar <[email protected]> * . Signed-off-by: Tony Najjar <[email protected]> * revert Signed-off-by: Tony Najjar <[email protected]> * . Signed-off-by: Tony Najjar <[email protected]> * fix Signed-off-by: Tony Najjar <[email protected]> * add common_interfaces Signed-off-by: Tony Najjar <[email protected]> * fix Signed-off-by: Tony Najjar <[email protected]> * use PoseStampedArray Signed-off-by: Tony Najjar <[email protected]> * reformat Signed-off-by: Tony Najjar <[email protected]> * revert Signed-off-by: Tony Najjar <[email protected]> * revert Signed-off-by: Tony Najjar <[email protected]> * fix warn msg Signed-off-by: Tony Najjar <[email protected]> * fix test Signed-off-by: Tony Najjar <[email protected]> * fix Signed-off-by: Tony Najjar <[email protected]> * fix Signed-off-by: Tony Najjar <[email protected]> * fix Signed-off-by: Tony Najjar <[email protected]> * fix Signed-off-by: Tony Najjar <[email protected]> * improve Signed-off-by: Tony Najjar <[email protected]> * fix format Signed-off-by: Tony Najjar <[email protected]> * change to info Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]>

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

…n#4851) * initial prototype to resolve smac planner issue Signed-off-by: Steve Macenski <[email protected]> * fix test Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]>

* Add goal pose to CriticData Signed-off-by: redvinaa <[email protected]> * Pass goal pose directly to withinPositionGoalTolerance Signed-off-by: redvinaa <[email protected]> * Fix condition not Signed-off-by: redvinaa <[email protected]> * Add goal positions to tests Signed-off-by: redvinaa <[email protected]> * Use plan stamp Signed-off-by: redvinaa <[email protected]> * Use float instead of auto Signed-off-by: redvinaa <[email protected]> * Throw nav2_core exceptions Signed-off-by: redvinaa <[email protected]> * Set pose frame id in test Signed-off-by: redvinaa <[email protected]> * Fix frame id in test vol 2 Signed-off-by: redvinaa <[email protected]> --------- Signed-off-by: redvinaa <[email protected]>

Signed-off-by: redvinaa <[email protected]>

Signed-off-by: Ayush1285 <[email protected]>

…gen_mppi

Signed-off-by: Ayush1285 <[email protected]>

This reverts commit 02336a2.

This reverts commit eaa88e6.

Ayush1285 and others added 30 commits June 6, 2024 23:47

Initial commit

137f75d

Signed-off-by: Ayush1285 <[email protected]>

Corrected to Eigen Array

a2c11e6

Signed-off-by: Ayush1285 <[email protected]>

updated motion model with eigen

8df6757

Signed-off-by: Ayush1285 <[email protected]>

Replaced xtensor with eigen in Optimizer, NoiseGenerator and all Util…

0f3a0f8

… files Signed-off-by: Ayush1285 <[email protected]>

updated critics with Eigen

3e0bcd4

Signed-off-by: Ayush1285 <[email protected]>

optimized Eigen::Array implementation

f244e0a

Signed-off-by: Ayush1285 <[email protected]>

added comment

96b14d1

Signed-off-by: Ayush1285 <[email protected]>

Updated path align critic and velocity deadband critic with Eigen

62eb959

Signed-off-by: Ayush1285 <[email protected]>

Updated cost critic and constraint critic with eigen

3d8f987

Signed-off-by: Ayush1285 <[email protected]>

Updated utils test with Eigen

bc5b377

Signed-off-by: Ayush1285 <[email protected]>

Reverted unnecessary changes and fixed static instance in Noise gener…

5fb8006

…ator Signed-off-by: Ayush1285 <[email protected]>

changes std::abs to fabs, clamp to min-max

46baa06

Signed-off-by: Ayush1285 <[email protected]>

Converted tests to Eigen

a336814

Signed-off-by: Ayush1285 <[email protected]>

Complete conversion from xtensor to Eigen

93d017b

Signed-off-by: Ayush1285 <[email protected]>

fixed few review comments

0f82afe

Signed-off-by: Ayush1285 <[email protected]>

Merge branch 'main' into eigen_mppi

b41d519

Fixed linters and few review comments

ca61afc

Signed-off-by: Ayush1285 <[email protected]>

Fixed mis-merge of AckermannReversingTest

61a1d51

Signed-off-by: Ayush1285 <[email protected]>

fixed gtest assertion

63b1e61

Signed-off-by: Ayush1285 <[email protected]>

Merge branch 'ros-navigation:main' into eigen_mppi

dfae9d5

Merge branch 'ros-navigation:main' into eigen_mppi

ea052a8

Fixed optimizer_unit_tests and related issues

286b3c0

Signed-off-by: Ayush1285 <[email protected]>

Merge branch 'ros-navigation:main' into eigen_mppi

d6418bd

Merge branch 'ros-navigation:main' into eigen_mppi

2c53db4

Fixed all the unit tests and critic tests, all unit tests passing loc…

847f837

…ally Signed-off-by: Ayush1285 <[email protected]>

fixed few review comments

f9ed129

Signed-off-by: Ayush1285 <[email protected]>

Merged the latest SG Filter changes

cdd489f

Signed-off-by: Ayush1285 <[email protected]>

Merge branch 'ros-navigation:main' into eigen_mppi

0327754

Fixed CostCritic issue and added test for shiftColumn method

2f8bd63

Signed-off-by: Ayush1285 <[email protected]>

Merge branch 'ros-navigation:main' into eigen_mppi

55f7fae

Ayush1285 and others added 30 commits December 26, 2024 12:42

Fixing strided trajectory columns

78f1d61

Signed-off-by: Ayush1285 <[email protected]>

fixed lint error

aab0b55

Signed-off-by: Ayush1285 <[email protected]>

fix pathalign critic

33d3f5d

Fixing strided trajectory columns

b6036c0

Signed-off-by: Ayush1285 <[email protected]>

publish motion target as pose (ros-navigation#4839)

051eb55

Signed-off-by: Michael Ferguson <[email protected]>

Fix compilation on Windows (ros-navigation#4843)

408fbb8

Signed-off-by: Silvio Traversaro <[email protected]>

Merge branch 'ros-navigation:main' into eigen_mppi

7ad850a

Update ISSUE_TEMPLATE.md

f9be2df

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

Update issue templates (ros-navigation#4850)

a55eb19

Update PULL_REQUEST_TEMPLATE.md

30fd765

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

Update configuration-or-tuning-help.md

c5cdde7

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

Fix goal pose stamp (ros-navigation#4854)

694a222

Signed-off-by: redvinaa <[email protected]>

merged into main

4dd35f1

Signed-off-by: Ayush1285 <[email protected]>

Fixed merge

cc1b48b

Signed-off-by: Ayush1285 <[email protected]>

Merge branch 'eigen_mppi' of github.com:Ayush1285/navigation2 into ei…

3be2a61

…gen_mppi

Fixed optimizer benchmark with latest api changes

3460d5b

Signed-off-by: Ayush1285 <[email protected]>

fixed build error

7820a41

Signed-off-by: Ayush1285 <[email protected]>

Fixed new util_test

141bb6a

Signed-off-by: Ayush1285 <[email protected]>

pull our main

aa642bb

wip: update mppi main

022f003

Revert "Use PoseStampedArray (ros-navigation#4791)"

836c440

This reverts commit 02336a2.

Revert "Adapt GoalUpdater to update goals as well (ros-navigation#4771)"

26c3dd4

This reverts commit eaa88e6.

WIP: disable MPPI testing for now

9c2740c

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[WIP][TEST]Mppi eigen #13

[WIP][TEST]Mppi eigen #13

jdgalviss commented Dec 16, 2024

[WIP][TEST]Mppi eigen #13

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[WIP][TEST]Mppi eigen #13

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jdgalviss commented Dec 16, 2024

Basic Info

Description of contribution in a few bullet points

Description of documentation updates required from your changes

Future work that may be required in bullet points

For Maintainers: