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Add option to use open-loop control with Rotation Shim (backport #4880) #4896

Merged
merged 2 commits into from
Feb 3, 2025
Merged

Add option to use open-loop control with Rotation Shim (backport #4880) #4896

merged 2 commits into from
Feb 3, 2025

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RBT22
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@RBT22 RBT22 commented Feb 3, 2025

Backport of #4880 to humble

Basic Info

Info Please fill out this column
Ticket(s) this addresses NA
Primary OS tested on Ubuntu
Robotic platform tested on own robot hardware
Does this PR contain AI generated software? No

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

@RBT22
Add option to use open-loop control with Rotation Shim (ros-navigatio…
de93463 
…n#4880)

* Initial implementation

Signed-off-by: RBT22 <[email protected]>

* replace feedback param with closed_loop

Signed-off-by: RBT22 <[email protected]>

* Reset last_angular_vel_ in activate method

Signed-off-by: RBT22 <[email protected]>

* Add closed_loop parameter to dynamicParametersCallback

Signed-off-by: RBT22 <[email protected]>

* Add tests

Signed-off-by: RBT22 <[email protected]>

* Override reset function

Signed-off-by: RBT22 <[email protected]>

---------

Signed-off-by: RBT22 <[email protected]>
@mergify Mergify
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mergify bot commented Feb 3, 2025

@RBT22, all pull requests must be targeted towards the main development branch.
Once merged into main, it is possible to backport to @humble, but it must be in main
to have these changes reflected into new distributions.

@RBT22
Remove reset
ff78a85 
Signed-off-by: RBT22 <[email protected]>
@RBT22 RBT22 force-pushed the backport-shim-open-loop branch from 8bd84f8 to ff78a85 Compare February 3, 2025 09:19
@SteveMacenski SteveMacenski merged commit 6b56b43 into ros-navigation:humble Feb 3, 2025
2 of 3 checks passed
RBT22 added a commit to EnjoyRobotics/navigation2 that referenced this pull request Feb 4, 2025
@RBT22
Add option to use open-loop control with Rotation Shim (backport ros-…
a08413b 
…navigation#4880) (ros-navigation#4896)

* Add option to use open-loop control with Rotation Shim (ros-navigation#4880)

* Initial implementation

Signed-off-by: RBT22 <[email protected]>

* replace feedback param with closed_loop

Signed-off-by: RBT22 <[email protected]>

* Reset last_angular_vel_ in activate method

Signed-off-by: RBT22 <[email protected]>

* Add closed_loop parameter to dynamicParametersCallback

Signed-off-by: RBT22 <[email protected]>

* Add tests

Signed-off-by: RBT22 <[email protected]>

* Override reset function

Signed-off-by: RBT22 <[email protected]>

---------

Signed-off-by: RBT22 <[email protected]>

* Remove reset

Signed-off-by: RBT22 <[email protected]>

---------

Signed-off-by: RBT22 <[email protected]>
emilnovak pushed a commit to EnjoyRobotics/navigation2 that referenced this pull request Feb 11, 2025
@RBT22 @LinusTxtonomy
@SteveMacenski @padhupradheep @ThomasHaley-neya
Nav2 Sync 6 2025 Febr 4 (#53)
76b76c9 
* Update Smac Planner for rounding to closest bin rather than flooring (ros-navigation#4636) (ros-navigation#4760)

Co-authored-by: Steve Macenski <[email protected]>

* fixing path longer on approach (ros-navigation#4622) (ros-navigation#4766)

* fixing path longer on approach



* removing the short circuit



* adding additional layer of check



---------

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

* Add acceleration limits to DriveOnHeading and BackUp behaviors (backport ros-navigation#4810) (ros-navigation#4877)

* Add acceleration limits to DriveOnHeading and BackUp behaviors (ros-navigation#4810)

* Add acceleration constraints

Signed-off-by: RBT22 <[email protected]>

* Cleanup code

Signed-off-by: RBT22 <[email protected]>

* Format code

Signed-off-by: RBT22 <[email protected]>

* Add <limits> header to drive_on_heading.hpp

Signed-off-by: RBT22 <[email protected]>

* Remove vel pointer

Signed-off-by: RBT22 <[email protected]>

* Use the limits only if both of them is set

Signed-off-by: RBT22 <[email protected]>

* Fix onActionCompletion params

Signed-off-by: RBT22 <[email protected]>

* Add default acc params and change decel sign

Signed-off-by: RBT22 <[email protected]>

* Add minimum speed parameter

Signed-off-by: RBT22 <[email protected]>

* Update minimum speed parameter to 0.10

Signed-off-by: RBT22 <[email protected]>

* Log warning when acceleration or deceleration limits are not set

Signed-off-by: RBT22 <[email protected]>

* Add param sign assert

Signed-off-by: RBT22 <[email protected]>

* Remove unnecessary param checking

Signed-off-by: RBT22 <[email protected]>

* Refactor acceleration limits to handle forward and backward movement separately

Signed-off-by: RBT22 <[email protected]>

* Fix sign checking condition

Signed-off-by: RBT22 <[email protected]>

* Replace throwing with silent sign correction

Signed-off-by: RBT22 <[email protected]>

---------

Signed-off-by: RBT22 <[email protected]>

* Update parameter defaults to zero

Signed-off-by: RBT22 <[email protected]>

* Add off condition

Signed-off-by: RBT22 <[email protected]>

* Move forward outside

Signed-off-by: RBT22 <[email protected]>

---------

Signed-off-by: RBT22 <[email protected]>

* Add option to use open-loop control with Rotation Shim (backport ros-navigation#4880) (ros-navigation#4896)

* Add option to use open-loop control with Rotation Shim (ros-navigation#4880)

* Initial implementation

Signed-off-by: RBT22 <[email protected]>

* replace feedback param with closed_loop

Signed-off-by: RBT22 <[email protected]>

* Reset last_angular_vel_ in activate method

Signed-off-by: RBT22 <[email protected]>

* Add closed_loop parameter to dynamicParametersCallback

Signed-off-by: RBT22 <[email protected]>

* Add tests

Signed-off-by: RBT22 <[email protected]>

* Override reset function

Signed-off-by: RBT22 <[email protected]>

---------

Signed-off-by: RBT22 <[email protected]>

* Remove reset

Signed-off-by: RBT22 <[email protected]>

---------

Signed-off-by: RBT22 <[email protected]>

* Create footprint_collision_checker.py (ros-navigation#4899)

Backport of footprint_collision_checker to Nav2 Humble

Signed-off-by: ThomasHaley-neya <[email protected]>

---------

Signed-off-by: Pradheep <[email protected]>
Signed-off-by: RBT22 <[email protected]>
Signed-off-by: ThomasHaley-neya <[email protected]>
Co-authored-by: LinusTxtonomy <[email protected]>
Co-authored-by: Steve Macenski <[email protected]>
Co-authored-by: Pradheep Krishna <[email protected]>
Co-authored-by: ThomasHaley-neya <[email protected]>
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@RBT22 @SteveMacenski