Nav2 update (Apr 28): new smoother_server/route_smoother/tolerance = 1.0e-10
- new flag smoother_server/route_smoother/do_refinement (ON by default)
- new flag smoother_server/simple_smoother/enforce_path_inversion (ON by default)
230/280 weighted chars
- new flag smoother_server/route_smoother/enforce_path_inversion (off by default)
Details: https://fitzyracing1.github.io/knoblog/demo/nav2/entries/b6a5387.html
Commit: https://github.com/ros-navigation/navigation2/commit/b6a5387d6823de6eb8008da995a72086e8ace1e5
Values are repo defaults from the params files.
Nav2 Route Server (#5056)
* skeleton of main server and visualization tools
* adding complete Kd-tree search for initial and goal node iDs for search
* initial planner complete
* added path converter
* fix conversion util
* adding change graph service
* added edge scoring to the search + pluginlib definitions + a plugin example instance
* moved to src directory
* linting
* contextual error codes + default bringup
* adding rviz default views of rgaph
* adding missing exception file
* fix segfault that was previously optimized out
* whoops, removing duplicate plugin registration
* remove nanoflann TODO
* adding 2 more edge plugins, use of closed edges in the API design, and added service to modify a set of closed edges being tracked
* fix indexing bug for certain request types
* adding costmap scoring route plugin
* readme todo list updates
* readme details
* adding unit test coverage
* add dynamic cost adjustment by application systems
* adding in operations API
* minor fixes
* add compute and track route action def
* initial prototype compiling and basic interface working for tracking action
* updates to TODO list
* state management
* remove divide by zero potential error
* added in working mostly demog
* adding rerouting service and a bunch of new tests for operations
* adding new trigger event plugin + base class for service calls + test coverage to complete operations manager
* conventions
* adding initial (maybe working?) collision checker + added blocked ID propogation from operations to allow for rerouting with info from operations
* adding in 3 new algorithms: Time Scorer, Time Marker, and Semantic Scorer
* adding complete unit testing for collision monitor
* adding tests for the planner on a fully connected 4x4 graph
* adding rereouting with starting point to use for the initial condition when along route
* sharing common shared action server code in main server
* refactor, added goal intent extractor, updated necessary tests
* updating todo notes
* adding tests and functionoing goal intent extractor and pruning cost updates
* a little cleanup
* adding readme
* completing unit tests
* large reorg of information around the rerouting state information and output formats for practical use
* Nav2 route server parser (#3398)
* aws graph working
* graph parser first stage
* naming cleanup
* remove
* update graph file
* added fileExists to api
* moved filepath param
* vect to string
* parser cleanup
* debug log
* added tests for geojson graph parser
* added logging to parser
* cleanup
* catch exceptions in route service
* code review
* undo cmake
* added graph loader test
* undo cmake
* code review
* frame convesion support
* comments
* fix
* Parse edge and node metadata
* parse operations
* completed metadata parsing
* added recursion for parser
* code review
* undo cmake
* support vectors
* refactor tests
* fix
* general cleanup
* code review
* added timestamp
---------
Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
* adding unit tests for complex handling of reentrant requests
* adding demos for python3 API
* adding conditions if graph is empty in routing request
* working MVP tracking demos working
* adding integration testing expanded TODO list before beta testers
* Example graph (#3438)
* added simple graph
* added metadata and operations to graph
* update
* add space
* added test for sample_graph
* added to readme
* testing system-wise, mostly working
* update remaining TODO list
* updates for pruning starting in rerouting
* adding a full roster of default plugins
* complete tested feature set
* adding configuration guide to readme
* adding plugins info
* testing collapse
* smaller titles
* adding becnhmarking script
* adding metrics to readme
* adding image for architecture
* resize
* resize
* adding design info
* new image
* turtlebot3 world graph (#3472)
* turtlebot3 world graph
* remove line
* add line back
* scripts for route (#3490)
* tmp push for moving computers
* Nav2 route server goal orientation scorer (#4866)
* added goal pose and bool to check for last edge for all scorers
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* added goal_orientation scorer
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* added test for GoalOrientationScorer
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* changed goal pose to a const ref, and moved score to end as implicit return
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* changed goal arguments to const ref
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* using const ref for goal pose, rearranged total_score to match header
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* linting on goal_orientation_scorer.hpp
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* using M_PI as default threshold, fixed angle wrapping by using angles library, no longer modifying cost
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* changed arguments to use const refs, changed argument order in score function to matach header
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* changed calling of score to match argument sequence, changed GoalOrientaitonScorer to test the opposite direction and check the return value
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* switched cost edge pairs to imply return of cost, default orientation as M_PI / 2.0
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
---------
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* minor updates
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* fix a few bugs, clarify a few things
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* more validation and inline comments to help readers understand complex interactions
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* CI turning over
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* adding error_msg
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* updated cmake style to be in line with repo
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* Adding afew mores features from TODO list
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* Nav2 route server start pose orientation scorer (#4950)
* adding flag to identify start node, passing tf_buffer to edge scorer
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* passing tf to route planner
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* added null buffer to tests
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* added null buffer to planner configure in performance bench marking test
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* changed arguments of all old edge scorers to also take tf_buffer
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* changed configure to take tf_buffer, added bool to identify start_edge in score method for all existing edge scorers
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* added start_pose_orientation_scorer to CMake
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* added StartPoseOrientationScorer as and edge scroer
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* added tf_buffer to constructor, added start edge bool on score method, added tf_buffer as a protected variable
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* added tf_buffer to configure method, added start_id_ member variable, added isStart method to identify initial node for route_planner.hpp
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* modified all configures to take a tf_buffer, modified all score functions to take a start edge bool, added test for start_pose_orientation_scorer
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* adding start_pose_orientation_scorer.cpp
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* edge scorer modified to take in tf_buffer and pass it to scorer plugins, bool for start edge also passed down to plugins
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* removed redundant parameter declarations, changed robot frame to base frame, year bump
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* changed robot frame to base frame, year bump on copy right
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* removed unnecessary tf_buffer_ from edge_scorer
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* added EdgeType enum class
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* all edge scorer plugins changed to use EdgeType
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* edge_scorer modified to use EdgeType enum class
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* edge_cost_function base class modified to use EdgeType enum class
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* modified tests for new scorer signature
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* added method to classify edge type
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* ament_cpplinting
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* linting
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* changed EdgeType to const ref
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* added option to score orientations instead of outright rejecting start poses
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* updated docstrings to have better description for goal pose and start pose orientation goal checker
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* fixed merge conflict in goal_orientation_scorer.hpp
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* fixed merge conflict in edge_cost_function.hpp
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* removed TODO from costmap_scorer.cpp
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* added getStart method to goal_intent_extract and start pose argument for findRoute
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* added RouteData struct to types.hpp
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* added start_pose to edge scorer hpp and cpp
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* fixed type getStart return type in goal_intent_extractor.cpp
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* added passing of start_pose down to scorer in route_planner
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* added start pose to base edge cost function class
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* underscore fix for goal_intent_extractor_
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* changed signature of all edge cost functions to take start_pose
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* populating RouteData and passing it into findRoute
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* passing route_data down to getTraversalCost
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* plugins modified to take in route_data, tests updated accordingly
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* using route data for goal_orientation_scorer and start_pose_orientation_scorer, modified tests accordingly
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* removed route frame, robot frame, and getRobotPose from start_pose_orientation_scorer
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* removed used of stat_pose and goal_pose as it is replaced with route data
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* added InvalidCriticUse exception to nav2_core, goal_orientation_scorer and start_pose_orientation_scorer throws this exception if route_data.use_poses is false, route_server catches this exception, added exception test in the edge scorer tester
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* added INVALID_CRITIC_USE error code in route actions
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* added orientation weighting for cost as an option instead of out right rejection
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* updated docstring for goal orientation scorer
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* renamed Critic to EdgeScorer
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* changed Critic to EdgeScorer in edge cost functions
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* changed Critic to EdgeScorer, storing exception message in error msg
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* changed Critic to EdgeScorer in edge scorer tests
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* changed INVALID_CRITIC_USE to IVALID_EDGE_SCORER_US in actions
* changed RouteData and route_data to RouteRequest and route_request respectively, added doxygen for RouteRequest struct
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* added doxygen for EdgeType
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
---------
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
* updates
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* better handle the route situation in the simple commander API
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* completed TB4 migration
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* route updates
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* updating radme
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* one last comment for the day
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* adding in BT ndoes, tests, and graphs for bringup
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* updating error code locations
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* test for route planner complete
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* Update to use service server from nav2_utils for service introspection
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* fix small error
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* adding in additional smoke tests, prototype working of tracking test to be continued
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* updates
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* completed system tests
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* reenable collision checking
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* remove unnecssary logging
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* linting
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* Update package.xml
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* closing test gap
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* a few more lines
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* changing permissions
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* fix system test
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* adding in additional coverage
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* finalized test coverage
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* adding file
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* simple commander demo working
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* python happiness
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* precommit spelling happy
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* wtf pprecommit, why didn't you mention this before
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* spelling
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* Update nav2_route/README.md
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* Update route_planner.cpp
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* fix mistake in merge conflict resolution
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* type check fix
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* lint
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* linting
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* more design ideas
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* Configuring nav2_route_server branch to be mypy compliant (#5081)
* Added definitions for nav2_msgs actions and messages.
Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>
* Enabled example_route to be compatible with mypy.
Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>
* Added return definition for route_example_launch.py.
Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>
* Ported robot_navigator.py to be compliant with mypy.
Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>
---------
Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>
* Demo 1 completed
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* second demo completed
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* final linting
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* adding route server for test to pass
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* adding smoother server
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* Configured nav2_system_tests to be mypy compliant. (#5085)
Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>
* Route Tool Rviz Panel (#4775)
* added route tool skeleton code and gui
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* rviz2 panel can load route graph
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* can add nodes using route tool
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* added logic for creating edges
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* graph nodes can be edited, existing edges will still connect if a node is moved
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* can edit edges
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* can delete nodes and edges
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* route graphs can be saved
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* fixed bug for loading in route graphs
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* added dynamic text to UI, created launch file and rviz configuration
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* fixed bug for deleting nodes
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* actually fixed node removal bug
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* publishing clicked point populates x and y fields
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* removed debugging log statements
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* added check to make sure node/edges exist before editing
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* bug fix
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* migrated route tool to rviz plugin
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* minor refactoring
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* added metadata and operations to graph saver so nothing should be erased
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* edited set route service to clear current route before setting new
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* Update README.md
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* addressed comments
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* documentation cleanup
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* changed copyright
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* addressed comments
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* moved copyright due to compiler error
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* revert removal of files
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* added gen ai comment
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* fixed rebasing issue
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* fix linting errors
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* added export for graph saver dependencies
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* added ui file to library
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* added nav2_route_core to link libaries
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* fixed cmake error
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* fixed build issues
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* uncrustified
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* cpplint
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* added unit tests and fixed bugs
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* increased test coverage
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* fixed linter errors
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* fixed pre-commit errors
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* fixed formatting error
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* double -> single quotes
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* added test for using default filepath
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* fixed license
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* addressed comments
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* Update nav2_route/include/nav2_route/graph_saver.hpp
Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* Update nav2_route/src/plugins/graph_file_savers/geojson_graph_file_saver.cpp
Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* Update nav2_route/src/plugins/graph_file_savers/geojson_graph_file_saver.cpp
Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* Update nav2_route/src/plugins/graph_file_savers/geojson_graph_file_saver.cpp
Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* Update nav2_route/src/plugins/graph_file_savers/geojson_graph_file_saver.cpp
Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
* linter fix
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
---------
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
Co-authored-by: Saikrishna Bairamoni <84093461+SaikrishnaBairamoni@users.noreply.github.com>
Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
* fixing linting
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* Updating readme table
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* lint
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* adding multifloor
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* adding BFS goal intent search
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* fix bug
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* adding unit tests for goal intent search
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* fixing collision check
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* Update nav2_simple_commander/nav2_simple_commander/robot_navigator.py
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
---------
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>
Signed-off-by: John Chrosniak <chrosniakj@gmail.com>
Co-authored-by: Joshua Wallace <josho.wallace@gmail.com>
Co-authored-by: alexanderjyuen <103065090+alexanderjyuen@users.noreply.github.com>
Co-authored-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>
Co-authored-by: John Chrosniak <chrosniakj@gmail.com>
Co-authored-by: Saikrishna Bairamoni <84093461+SaikrishnaBairamoni@users.noreply.github.com>