Add option to use open-loop control with Rotation Shim (backport #4880) #4896
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…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]>
Signed-off-by: RBT22 <[email protected]>
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SteveMacenski
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Feb 3, 2025
RBT22
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Feb 4, 2025
…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
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Feb 11, 2025
* 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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Backport of #4880 to humble
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