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[WIP][TEST]Mppi eigen#13

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jdgalviss wants to merge 81 commits intofeature/add_bt_logskiwicampus/navigation2:feature/add_bt_logsfrom mppi-eigenkiwicampus/navigation2:mppi-eigenCopy head branch name to clipboard

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Commits on Jun 6, 2024

• Initial commit

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• Corrected to Eigen Array

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Commits on Jun 8, 2024

• updated motion model with eigen

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Commits on Jun 10, 2024

• Replaced xtensor with eigen in Optimizer, NoiseGenerator and all Util files

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Commits on Jun 18, 2024

• updated critics with Eigen

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Commits on Aug 12, 2024

• optimized Eigen::Array implementation

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Commits on Aug 14, 2024

• added comment

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Commits on Aug 16, 2024

• Updated path align critic and velocity deadband critic with Eigen

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Commits on Aug 19, 2024

• Updated cost critic and constraint critic with eigen

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• Updated utils test with Eigen

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Commits on Aug 20, 2024

• Reverted unnecessary changes and fixed static instance in Noise generator

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Commits on Aug 23, 2024

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

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Commits on Sep 2, 2024

• Converted tests to Eigen

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Commits on Sep 3, 2024

• Complete conversion from xtensor to Eigen

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Commits on Sep 5, 2024

• fixed few review comments

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Commits on Sep 10, 2024

• Merge branch 'main' into eigen_mppi

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Commits on Sep 11, 2024

• Fixed linters and few review comments

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• Fixed mis-merge of AckermannReversingTest

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• fixed gtest assertion

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Commits on Sep 14, 2024

• Merge branch 'ros-navigation:main' into eigen_mppi

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Commits on Sep 16, 2024

• Merge branch 'ros-navigation:main' into eigen_mppi

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• Fixed optimizer_unit_tests and related issues

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Commits on Oct 1, 2024

• Merge branch 'ros-navigation:main' into eigen_mppi

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Commits on Oct 2, 2024

• Merge branch 'ros-navigation:main' into eigen_mppi

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• Fixed all the unit tests and critic tests, all unit tests passing locally

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• fixed few review comments

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Commits on Oct 5, 2024

• Merged the latest SG Filter changes

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Commits on Oct 16, 2024

• Merge branch 'ros-navigation:main' into eigen_mppi

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• Fixed CostCritic issue and added test for shiftColumn method

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Commits on Oct 20, 2024

• Merge branch 'ros-navigation:main' into eigen_mppi

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• Added test for new functions

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• Removed compiler flags

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Commits on Nov 14, 2024

• Try eigen branch

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Commits on Nov 18, 2024

• Merge branch 'ros-navigation:main' into eigen_mppi

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Commits on Nov 20, 2024

• updated test to check first and last columns

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• Addressed few review comments

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

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• Merge branch 'ros-navigation:main' into eigen_mppi

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

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• Changed the obstacle critic implementation to the original way. Updated optimizer_benchmark test with critics and params

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Commits on Nov 23, 2024

• Fixed bugs

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• Fixed linter

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• Added clamp util function

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• Merge branch 'ros-navigation:main' into eigen_mppi

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• Fixed bug

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Commits on Nov 27, 2024

• Fixed review comments: Added utils::clamp method

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Commits on Dec 5, 2024

• Merge branch 'ros-navigation:main' into eigen_mppi

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Commits on Dec 16, 2024

• pull eigen changes

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• add bt logs

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Commits on Dec 20, 2024

• Merged main and resolved merge conflict

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Commits on Dec 24, 2024

• Merge branch 'ros-navigation:main' into eigen_mppi

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Commits on Dec 26, 2024

• Fixing strided trajectory columns

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• fixed lint error

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Commits on Jan 6, 2025

• fix pathalign critic

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• Fixing strided trajectory columns

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Commits on Jan 7, 2025

• fix: Changed cloned_multi_tb3_simulation_launch.py file to conform with common ROS 2 launch syntax (ros-navigation#4811)

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Commits on Jan 9, 2025

• Use PoseStampedArray (ros-navigation#4791)

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

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Commits on Jan 10, 2025

• nav2_behaviors: drive_on_heading: return TIMEOUT error code when exceeding time allowance (ros-navigation#4836)

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• fix bug in orientation filtering (ros-navigation#4840)

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• Fix compilation on Windows (ros-navigation#4843)

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Commits on Jan 13, 2025

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

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Commits on Jan 14, 2025

• Merge branch 'ros-navigation:main' into eigen_mppi

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• Update ISSUE_TEMPLATE.md

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• Update issue templates (ros-navigation#4850)

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• Update PULL_REQUEST_TEMPLATE.md

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• Update configuration-or-tuning-help.md

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• Fixes smac planner non-circular footprint search issue (ros-navigation#4851)

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• Mppi goal to critic (ros-navigation#4822)

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Commits on Jan 15, 2025

• Fix goal pose stamp (ros-navigation#4854)

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• merged into main

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• Fixed merge

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

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• Fixed optimizer benchmark with latest api changes

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• fixed build error

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• Fixed new util_test

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• pull our main

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• wip: update mppi main

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

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

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• WIP: disable MPPI testing for now

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