Humble release 11: May 23, 2024 (#4365)

* Scale cost critic's weight when dynamically updated (#4246)

* Scale cost critic's weight when dynamically updated

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

* sign off

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

---------

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

* Add expanding the ~/ to the full home dir of user in the path to the map yaml.  (#4258)

* Add user home expander of home sequence

Signed-off-by: Wiktor Bajor <[email protected]>

* Add passing home dir as string instead of const char*

Signed-off-by: Wiktor Bajor <[email protected]>

* Add docs

Signed-off-by: Wiktor Bajor <[email protected]>

* Fix function declaration

Signed-off-by: Wiktor Bajor <[email protected]>

* Fix linter issues

Signed-off-by: Wiktor Bajor <[email protected]>

* Uncrustify linter

Signed-off-by: Wiktor Bajor <[email protected]>

* Uncrustify linter

Signed-off-by: Wiktor Bajor <[email protected]>

* Uncrustify linter: remove remove whitespace

Signed-off-by: Wiktor Bajor <[email protected]>

---------

Signed-off-by: Wiktor Bajor <[email protected]>

* Implement Critic for Velocity Deadband Hardware Constraints (#4256)

* Adding new velocity deadband critic.

- add some tests
- cast double to float
- add new features from "main" branch

- fix formating

- add cost test
- fix linting issue
- add README

Signed-off-by: Denis Sokolov <[email protected]>

* Remove velocity deadband critic from defaults

Signed-off-by: Denis Sokolov <[email protected]>

* remove old weight

Signed-off-by: Denis Sokolov <[email protected]>

* fix velocity deadband critic tests

Signed-off-by: Denis Sokolov <[email protected]>

---------

Signed-off-by: Denis Sokolov <[email protected]>

* removing clearable layer param (unused) (#4280)

* provide message validation check API (#4276)

* provide validation_message.hpp

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

* fix typo

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

* add test_validation_messages.cpp

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

* change include-order

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

* reformat

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

* update test

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

---------

Signed-off-by: goes <[email protected]>
Co-authored-by: goes <[email protected]>

* Add footprint clearing for static layer (#4282)

* Add footprint clearing for static layer

Signed-off-by: Tony Najjar <[email protected]>

* fix flckering

---------

Signed-off-by: Tony Najjar <[email protected]>

* Fix #4268 (#4296)

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

* Update README.md of nav2_bt_navigator (#4309)

Update link to docs

Signed-off-by: João Britto <[email protected]>

* Fix undefined symbols in `libpf_lib.so` (#4312)

When I build `nav2_amcl` with `-Wl,--no-undefined` I noticed
`libpf_lib.so` has undefined symbols. This PR correctly links
`libpf_lib.so` to `libm` so all symbols can be found.

You can verify this by executing the following command:
```
ldd -r ./build/nav2_amcl/src/pf/libpf_lib.so
	linux-vdso.so.1 (0x00007ffd1f8c0000)
	libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x000074e909a00000)
	/lib64/ld-linux-x86-64.so.2 (0x000074e909e60000)
undefined symbol: ceil	(./build/nav2_amcl/src/pf/libpf_lib.so)
undefined symbol: atan2	(./build/nav2_amcl/src/pf/libpf_lib.so)
undefined symbol: sin	(./build/nav2_amcl/src/pf/libpf_lib.so)
undefined symbol: hypot	(./build/nav2_amcl/src/pf/libpf_lib.so)
undefined symbol: cos	(./build/nav2_amcl/src/pf/libpf_lib.so)
undefined symbol: log	(./build/nav2_amcl/src/pf/libpf_lib.so)
undefined symbol: sqrt	(./build/nav2_amcl/src/pf/libpf_lib.so)
undefined symbol: floor	(./build/nav2_amcl/src/pf/libpf_lib.so)
```

Signed-off-by: Ramon Wijnands <[email protected]>

* msg validation check for `/initialpose`  in `nav2_amcl` (#4301)

* add validation check for PoseWithCovarianceStamped

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

* remove rebundant check before

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

* reformat

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

* typo fixed

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

* change the type-name

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

* update test

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

* reformat

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

* .

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

* add comment

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

* update comment

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

* change header

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

* update test

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

* typo fixed

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

---------

Signed-off-by: goes <[email protected]>
Co-authored-by: goes <[email protected]>

* 4320: Changed precision of calculations of the HybridNode MotionTable::getClosestAngularBin. (#4324)

Signed-off-by: Krzysztof Pawełczyk <[email protected]>
Co-authored-by: Krzysztof Pawełczyk <[email protected]>

* [LifecycleNode] add bond_heartbeat_period (#4342)

* add bond_heartbeat_period


Signed-off-by: Guillaume Doisy <[email protected]>

* lint

Signed-off-by: Guillaume Doisy <[email protected]>

---------

Signed-off-by: Guillaume Doisy <[email protected]>
Co-authored-by: Guillaume Doisy <[email protected]>

* Update path_longer_on_approach.cpp (#4344)

Fix the bug that isPathUpdated function will return false for the reason that it compare the timestaped between new path and old path's last pose

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

* [LifecycleManagerClient] clean set_initial_pose and navigate_to_pose (#4346)

Signed-off-by: Guillaume Doisy <[email protected]>
Co-authored-by: Guillaume Doisy <[email protected]>

* Move projectState after getPointsInside (#4356)

* Modify test to check fix

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

* Add static polygon check before simulation

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

---------

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

* adding final pose in analytic expansion to check (#4353)

* fix sync merge conflicts

* bump humble to 1.1.15 for release

* Revert "[LifecycleNode] add bond_heartbeat_period (#4342)"

This reverts commit 6e44178.

---------

Signed-off-by: pepisg <[email protected]>
Signed-off-by: Wiktor Bajor <[email protected]>
Signed-off-by: Denis Sokolov <[email protected]>
Signed-off-by: goes <[email protected]>
Signed-off-by: Tony Najjar <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: João Britto <[email protected]>
Signed-off-by: Ramon Wijnands <[email protected]>
Signed-off-by: Krzysztof Pawełczyk <[email protected]>
Signed-off-by: Guillaume Doisy <[email protected]>
Signed-off-by: StetroF <[email protected]>
Signed-off-by: Brice <[email protected]>
Co-authored-by: Pedro Alejandro González <[email protected]>
Co-authored-by: Wiktor Bajor <[email protected]>
Co-authored-by: Sokolov Denis <[email protected]>
Co-authored-by: GoesM <[email protected]>
Co-authored-by: goes <[email protected]>
Co-authored-by: Tony Najjar <[email protected]>
Co-authored-by: João Britto <[email protected]>
Co-authored-by: Ramon Wijnands <[email protected]>
Co-authored-by: AzaelCicero <[email protected]>
Co-authored-by: Krzysztof Pawełczyk <[email protected]>
Co-authored-by: Guillaume Doisy <[email protected]>
Co-authored-by: Guillaume Doisy <[email protected]>
Co-authored-by: StetroF <[email protected]>
Co-authored-by: BriceRenaudeau <[email protected]>

Author: 15 people

nav2_amcl/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_amcl</name>
-  <version>1.1.14</version>
+  <version>1.1.15</version>
   <description>
     <p>
       amcl is a probabilistic localization system for a robot moving in

nav2_amcl/src/amcl_node.cpp

@@ -49,6 +49,7 @@
 #pragma GCC diagnostic pop
 
 #include "nav2_amcl/portable_utils.hpp"
+#include "nav2_util/validate_messages.hpp"
 
 using namespace std::placeholders;
 using rcl_interfaces::msg::ParameterType;
@@ -523,11 +524,8 @@ AmclNode::initialPoseReceived(geometry_msgs::msg::PoseWithCovarianceStamped::Sha
 
   RCLCPP_INFO(get_logger(), "initialPoseReceived");
 
-  if (msg->header.frame_id == "") {
-    // This should be removed at some point
-    RCLCPP_WARN(
-      get_logger(),
-      "Received initial pose with empty frame_id. You should always supply a frame_id.");
+  if (!nav2_util::validateMsg(*msg)) {
+    RCLCPP_ERROR(get_logger(), "Received initialpose message is malformed. Rejecting.");
     return;
   }
   if (nav2_util::strip_leading_slash(msg->header.frame_id) != global_frame_id_) {
@@ -1381,6 +1379,10 @@ void
 AmclNode::mapReceived(const nav_msgs::msg::OccupancyGrid::SharedPtr msg)
 {
   RCLCPP_DEBUG(get_logger(), "AmclNode: A new map was received.");
+  if (!nav2_util::validateMsg(*msg)) {
+    RCLCPP_ERROR(get_logger(), "Received map message is malformed. Rejecting.");
+    return;
+  }
   if (first_map_only_ && first_map_received_) {
     return;
   }

nav2_amcl/src/pf/CMakeLists.txt

@@ -15,6 +15,7 @@ target_include_directories(pf_lib PRIVATE ../include)
 if(HAVE_DRAND48)
   target_compile_definitions(pf_lib PRIVATE "HAVE_DRAND48")
 endif()
+target_link_libraries(pf_lib m)
 
 install(TARGETS
   pf_lib

nav2_behavior_tree/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_behavior_tree</name>
-  <version>1.1.14</version>
+  <version>1.1.15</version>
   <description>TODO</description>
   <maintainer email="[email protected]">Michael Jeronimo</maintainer>
   <maintainer email="[email protected]">Carlos Orduno</maintainer>

nav2_behavior_tree/plugins/decorator/path_longer_on_approach.cpp

@@ -36,7 +36,7 @@ bool PathLongerOnApproach::isPathUpdated(
 {
   return new_path != old_path && old_path.poses.size() != 0 &&
          new_path.poses.size() != 0 &&
-         old_path.poses.back() == new_path.poses.back();
+         old_path.poses.back().pose == new_path.poses.back().pose;
 }
 
 bool PathLongerOnApproach::isRobotInGoalProximity(

nav2_behaviors/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_behaviors</name>
-  <version>1.1.14</version>
+  <version>1.1.15</version>
   <description>TODO</description>
   <maintainer email="[email protected]">Carlos Orduno</maintainer>
   <maintainer email="[email protected]">Steve Macenski</maintainer>

nav2_bringup/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_bringup</name>
-  <version>1.1.14</version>
+  <version>1.1.15</version>
   <description>Bringup scripts and configurations for the Nav2 stack</description>
   <maintainer email="[email protected]">Michael Jeronimo</maintainer>
   <maintainer email="[email protected]">Steve Macenski</maintainer>

nav2_bt_navigator/README.md

@@ -2,7 +2,7 @@
 
 The BT Navigator (Behavior Tree Navigator) module implements the NavigateToPose and NavigateThroughPoses task interfaces. It is a [Behavior Tree](https://github.com/BehaviorTree/BehaviorTree.CPP/blob/master/docs/BT_basics.md)-based implementation of navigation that is intended to allow for flexibility in the navigation task and provide a way to easily specify complex robot behaviors.
 
-See its [Configuration Guide Page](https://navigation.ros.org/configuration/packages/configuring-bt-navigator.html) for additional parameter descriptions, as well as the [Nav2 Behavior Tree Explanation](https://navigation.ros.org/behavior_trees/index.html) pages explaining more context on the default behavior trees and examples provided in this package.
+See its [Configuration Guide Page](https://docs.nav2.org/configuration/packages/configuring-bt-navigator.html) for additional parameter descriptions, as well as the [Nav2 Behavior Tree Explanation](https://docs.nav2.org/behavior_trees/index.html) pages explaining more context on the default behavior trees and examples provided in this package.
 
 ## Overview
 

nav2_bt_navigator/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_bt_navigator</name>
-  <version>1.1.14</version>
+  <version>1.1.15</version>
   <description>TODO</description>
   <maintainer email="[email protected]">Michael Jeronimo</maintainer>
   <license>Apache-2.0</license>

nav2_collision_monitor/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_collision_monitor</name>
-  <version>1.1.14</version>
+  <version>1.1.15</version>
   <description>Collision Monitor</description>
   <maintainer email="[email protected]">Alexey Merzlyakov</maintainer>
   <maintainer email="[email protected]">Steve Macenski</maintainer>