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Merged
merged 5 commits into from
Oct 12, 2023
Merged

Add a timeout to the wait for transforms step of the costmap activation. #3866

merged 5 commits into from
Oct 12, 2023

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@kfabian
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@kfabian kfabian commented Oct 7, 2023

Basic Info

Info Please fill out this column
Ticket(s) this addresses #3749
Primary OS tested on Ubuntu 22.04
Robotic platform tested on only tested without robot by optionally manually providing the transform

Description of contribution in a few bullet points

  • Previously the on_activate method of the costmap was blocking indefinitely if the transform from the robot base frame to the global frame is not available
  • This adds a timeout so that the transition from configured to active fails if the transform is not available
  • The timeout can be configured by a costmap parameter
  • The controller server transition from configured to active fails if the corresponding costmap transitions fails

Description of documentation updates required from your changes

  • There is a new costmap parameter: wait_for_transforms_timeout

Future work that may be required in bullet points

For Maintainers:

  • Check that any new parameters added are updated in navigation.ros.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
@kfabian
Add a timeout to the wait for transforms step of the costmap activation.
677e1bc 
Signed-off-by: Fabian König <fabiankoenig@gmail.com>
SteveMacenski
SteveMacenski requested changes Oct 9, 2023
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Generally speaking, LGTM!
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SteveMacenski commented Oct 9, 2023

Alot of the system tests failed. I'm going to rerun them again in case that was a fluke, but that might be pointing to some activation errors this PR introduces
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kfabian commented Oct 9, 2023

Alot of the system tests failed. I'm going to rerun them again in case that was a fluke, but that might be pointing to some activation errors this PR introduces

Maybe the new timeout is just too low for tests with the gazebo simulation? Unfortunately I could not get the turtlebot simulation running on my Ubuntu arm64 virtual machine.
SteveMacenski
SteveMacenski approved these changes Oct 9, 2023
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Still needs docs PR I described but otherwise LGTM!
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codecov bot commented Oct 9, 2023 •
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Codecov Report

All modified lines are covered by tests ✅

Comparison is base (57dd8d4) 90.22% compared to head (47249d8) 90.34%.
Report is 2 commits behind head on main.

Additional details and impacted files 
@@ Coverage Diff @@ ## main #3866 +/- ## ========================================== + Coverage 90.22% 90.34% +0.12%  ========================================== Files 413 413 Lines 18310 18316 +6 ========================================== + Hits 16520 16548 +28  + Misses 1790 1768 -22
Files Coverage Δ
nav2_controller/src/controller_server.cpp 89.22% <100.00%> (ø)
...tmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp 100.00% <ø> (ø)
nav2_costmap_2d/src/costmap_2d_ros.cpp 88.16% <100.00%> (+0.21%) ⬆️
nav2_planner/src/planner_server.cpp 93.31% <100.00%> (ø)

... and 5 files with indirect coverage changes

☔ View full report in Codecov by Sentry.
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kfabian commented Oct 9, 2023

@SteveMacenski the CI is complaining about reduced test coverage. Looking at the costmap test folder I'm wondering where a suitable test should be located.
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SteveMacenski commented Oct 9, 2023 •
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A new unit test file would be fine!
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kfabian commented Oct 12, 2023

Still needs docs PR I described but otherwise LGTM!

I created the docs PR: ros-navigation/docs.nav2.org#477
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SteveMacenski commented Oct 12, 2023

Waiting on CI
@kfabian
Add unittest for costmap activation
47249d8 
Signed-off-by: Fabian König <fabiankoenig@gmail.com>
@kfabian kfabian force-pushed the costmap_activate_timeout branch from f50d6c1 to 47249d8 Compare October 12, 2023 20:50
@SteveMacenski SteveMacenski merged commit 461a7ba into ros-navigation:main Oct 12, 2023
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SteveMacenski commented Oct 12, 2023

Thanks!!
SteveMacenski pushed a commit that referenced this pull request Jan 24, 2024
@kfabian @SteveMacenski
Add a timeout to the wait for transforms step of the costmap activati…
0a7b509 
…on. (#3866) * Add a timeout to the wait for transforms step of the costmap activation. Signed-off-by: Fabian König <fabiankoenig@gmail.com> * Rename wait_for_transforms_timeout to initial_transform_timeout * Activate costmap publishers only after transforms are checked * Check if controller server activation was succesful in planner_server * Add unittest for costmap activation Signed-off-by: Fabian König <fabiankoenig@gmail.com> --------- Signed-off-by: Fabian König <fabiankoenig@gmail.com>
SteveMacenski added a commit that referenced this pull request Jan 24, 2024
@SteveMacenski @thandal
@antonkesy @CihatAltiparmak @akchobby @Plaqueoff @kfabian @ladianchad @kevin-floatic @doisyg @romi2002 @mikeferguson @Hao-Li-Bachelorarbeit @GoesM @BriceRenaudeau @jwallace42 @Sunart24 @renan028
Iron Sync 4: Jan 23, 2024 (#4063)
57093ec 
* collision_monitor: dynamic polygon and source enable/disable (#3825) * Rename PushRosNamespace to PushROSNamespace * Fix min_points checking * initial * fix * fix * remove unrelated change * reset * fix format * PR fixes * Add test * fix comments * add to params * publish only if enabled * Add source dynamic enable/disable * add enabled param to sources * fix * add same to collision detector * Update README.md: fix typo (#3842) * Update package.xml * fix typo (#3850) * adjust link to point to v3.8 of behavior tree docs (#3851) BT.CPP_v3 is used, thereby the correct docs should be linked * Fix bug in nav2_behavior_tree/bt_action_node (#3849) * Fix bug in nav2_behavior_tree/bt_action_node * Fixed the bug in halt function inside nav2_behavior_tree/plugin/action/bt_action_node.hpp * Added new case to nav2_behavior_tree/plugin/action/bt_action_node.hpp for testing the scenario to cancel * Refactored existing cases in nav2_behavior_tree/plugin/action/bt_action_node.hpp Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> * Fix bug in nav2_behavior_tree/bt_action_node * Fixed the bug in halt function inside nav2_behavior_tree/plugin/action/bt_action_node.hpp * Added new case to nav2_behavior_tree/plugin/action/bt_action_node.hpp for testing the scenario to cancel * Refactored existing cases in nav2_behavior_tree/plugin/action/bt_action_node.hpp Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> --------- Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> * Fix action test failure due to rate after Rolling sync API change (#3852) * Update CMakeLists.txt (#3843) * add option for sse4 and avs512 (#3853) * Remove all exit(-1) crash conditions (#3846) * Update transform_available_condition.cpp * wrapping all examples of get_plugin_type_param in exceptions and making that throw instead of crash * some linting * fix typo * Update controller.cpp * Update nav2_params.yaml * Update nav2_params.yaml * simplication of lattice_generator.py, fixes #3858 (#3859) * simplification of equation to compute the max_value/outer edge of the lattice based on number of headings. * Stop error diagnostics when pausing nav (#3830) * Added nodestate enum and a variable to keep track of current state of managed nodes. * Updating state_of_managed_nodes_ when switching states and using it to determine an accurate diagnostics message. * Fixing bugs. * Updated/added docstrings. * Publishing OK status when nodes are unconfigured. Changed if-else chain to switch case. * Renamed NodeState PAUSED to INACTIVE, state_of_managed_nodes_ to managed_nodes_state_ and replaced system_active_ with an inline method. * Bugfix. --------- Co-authored-by: Pekka Myller <pekka.myller@karelics.fi> * Add a timeout to the wait for transforms step of the costmap activation. (#3866) * Add a timeout to the wait for transforms step of the costmap activation. Signed-off-by: Fabian König <fabiankoenig@gmail.com> * Rename wait_for_transforms_timeout to initial_transform_timeout * Activate costmap publishers only after transforms are checked * Check if controller server activation was succesful in planner_server * Add unittest for costmap activation Signed-off-by: Fabian König <fabiankoenig@gmail.com> --------- Signed-off-by: Fabian König <fabiankoenig@gmail.com> * Fix class doxygen * fix minor typos (#3892) Signed-off-by: Anton Kesy <antonkesy@gmail.com> * Publish collision points for debug purposes (#3879) * Rename PushRosNamespace to PushROSNamespace * Fix min_points checking * . * fixes * add to collision detector * fix * fix * . * fixes * add namespace to topic * fixes * fix use after free (#3910) * fix build mppi (#3927) Signed-off-by: kevin <kevin@floatic.io> Co-authored-by: kevin <kevin@floatic.io> * Removing old TODOs * protect invalid max_velocity min_velocity (#3953) Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * protect properly max_accel and max_decel (#3952) Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * Fixed links for install and build in README (#3963) Currently the readme is linking to an invalida page in the docs (404 error). * adding support for rotate in place cusps (#3934) * Fix linting error (#3969) * Fix linting error * Update regulated_pure_pursuit_controller.cpp * fix a few outdated comments in smac planners (#3978) * adding soft realtime prioritization for collision monitor and velocity smoother (#3979) * adding soft realtime prioritization for collision monitor and velocity smoother * refactor simple action server to use new utils API * Update README.md * Synchronize map size information during map initialization (#4015) * Update costmap size configuration This commit updates the costmap_2d.cpp file to fix a bug where the costmap size wasn't appropriately updated. Two new lines of code have been added to ensure the size of the costmap is correctly configured each time it's instantiated. * Refactor costmap size assignment in Costmap2D class The code refactor eliminates the direct mutation of the size_x_ and size_y_ attributes in the Costmap2D class. Instead, the class uses the size of cells provided during initialization and calculation from map coordinates for better encapsulation and clarity. * check width&height params (#4017) Co-authored-by: GoesM <GoesM@buaa.edu.cn> * Fix SimpleActionServer nullprt callback (#4025) * add check before calling completion_callback_ * Fix lint * footprint checks (#4030) * footprint checks Signed-off-by: gg <josho.wallace@gmail.com> * lint fix Signed-off-by: gg <josho.wallace@gmail.com> --------- Signed-off-by: gg <josho.wallace@gmail.com> * Is path valid doc (#4032) * docs Signed-off-by: gg <josho.wallace@gmail.com> * update Signed-off-by: gg <josho.wallace@gmail.com> --------- Signed-off-by: gg <josho.wallace@gmail.com> * Update vision_opencv's branch for rolling Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * handle dynamically changes in parameters. (#4046) Signed-off-by: Sebastian Solarte <johan.solarte@kiwibot.com> * Add inflation_layer_name param (#4047) Signed-off-by: Renan Salles <renan028@gmail.com> * missing urdf dep (#4050) Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * bump to 1.2.6 for release --------- Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> Signed-off-by: Fabian König <fabiankoenig@gmail.com> Signed-off-by: Anton Kesy <antonkesy@gmail.com> Signed-off-by: kevin <kevin@floatic.io> Signed-off-by: gg <josho.wallace@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Sebastian Solarte <johan.solarte@kiwibot.com> Signed-off-by: Renan Salles <renan028@gmail.com> Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Tony Najjar <tony.najjar@logivations.com> Co-authored-by: thandal <than@timbrel.org> Co-authored-by: Anton Kesy <antonkesy@gmail.com> Co-authored-by: CihatAltiparmak <cihataltiparmak1@gmail.com> Co-authored-by: Anil Kumar Chavali <44644339+akchobby@users.noreply.github.com> Co-authored-by: Plaqueoff <44152820+Plaqueoff@users.noreply.github.com> Co-authored-by: Pekka Myller <pekka.myller@karelics.fi> Co-authored-by: Fabian König <fabiankoenig@gmail.com> Co-authored-by: 정찬희 <60467877+ladianchad@users.noreply.github.com> Co-authored-by: kevin <kevin@floatic.io> Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Abiel Fernandez <empoleom@gmail.com> Co-authored-by: Michael Ferguson <mfergs7@gmail.com> Co-authored-by: Hao-Li-Bachelorarbeit <141755843+Hao-Li-Bachelorarbeit@users.noreply.github.com> Co-authored-by: GoesM <130988564+GoesM@users.noreply.github.com> Co-authored-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com> Co-authored-by: Joshua Wallace <josho.wallace@gmail.com> Co-authored-by: Sebastian Solarte <89881453+Sunart24@users.noreply.github.com> Co-authored-by: Renan Salles <renan028@gmail.com>
enricosutera pushed a commit to enricosutera/navigation2 that referenced this pull request May 19, 2024
@kfabian @enricosutera
Add a timeout to the wait for transforms step of the costmap activati…
1ee98ea 
…on. (ros-navigation#3866) * Add a timeout to the wait for transforms step of the costmap activation. Signed-off-by: Fabian König <fabiankoenig@gmail.com> * Rename wait_for_transforms_timeout to initial_transform_timeout * Activate costmap publishers only after transforms are checked * Check if controller server activation was succesful in planner_server * Add unittest for costmap activation Signed-off-by: Fabian König <fabiankoenig@gmail.com> --------- Signed-off-by: Fabian König <fabiankoenig@gmail.com> Signed-off-by: enricosutera <enricosutera@outlook.com>
mini-1235 pushed a commit to mini-1235/navigation2 that referenced this pull request Feb 5, 2025
@kfabian @SteveMacenski
Update docu for PR ros-navigation#3866 (ros-navigation#477)
6d9e940 
* Update docu for PR ros-navigation#3866 Signed-off-by: Fabian König <fabiankoenig@gmail.com> * Update configuration/packages/configuring-costmaps.rst --------- Signed-off-by: Fabian König <fabiankoenig@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
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