Merge remote-tracking branch 'origin/main' into (binary-filter)-change-boolean-ros-params

Author: enricosutera

.circleci/config.yml

@@ -33,12 +33,12 @@ _commands:
         - restore_cache:
             name: Restore Cache << parameters.key >>
             keys:
-              - "<< parameters.key >>-v16\
+              - "<< parameters.key >>-v21\
                 -{{ arch }}\
                 -{{ .Branch }}\
                 -{{ .Environment.CIRCLE_PR_NUMBER }}\
                 -{{ checksum  \"<< parameters.workspace >>/lockfile.txt\" }}"
-              - "<< parameters.key >>-v16\
+              - "<< parameters.key >>-v21\
                 -{{ arch }}\
                 -main\
                 -<no value>\
@@ -58,7 +58,7 @@ _commands:
       steps:
         - save_cache:
             name: Save Cache << parameters.key >>
-            key: "<< parameters.key >>-v16\
+            key: "<< parameters.key >>-v21\
               -{{ arch }}\
               -{{ .Branch }}\
               -{{ .Environment.CIRCLE_PR_NUMBER }}\
@@ -96,6 +96,11 @@ _commands:
                 (echo vcs_export && cat) >> lockfile.txt
               sha256sum $PWD/lockfile.txt >> lockfile.txt
 
+              # Temp: Rolling transition to 24.04 leaves rosdep in 22.04 in the lurch
+              # This replaces main rosdep index with the last prior to release: Feb 28, 2024
+              sed -i "s|ros\/rosdistro\/master|ros\/rosdistro\/rolling\/2024-02-28|" /etc/ros/rosdep/sources.list.d/20-default.list
+              export ROSDISTRO_INDEX_URL=https://raw.githubusercontent.com/ros/rosdistro/rolling/2024-02-28/index-v4.yaml
+
               apt-get update
               rosdep update --rosdistro $ROS_DISTRO
               dependencies=$(

.github/PULL_REQUEST_TEMPLATE.md

@@ -9,6 +9,7 @@
 | Ticket(s) this addresses   | (add tickets here #1) |
 | Primary OS tested on | (Ubuntu, MacOS, Windows) |
 | Robotic platform tested on | (Steve's Robot, gazebo simulation of Tally, hardware turtlebot) |
+| Does this PR contain AI generated software? | (No; Yes and it is marked inline in the code) |
 
 ---
 

.github/workflows/lint.yml

@@ -0,0 +1,21 @@
+name: Lint
+on:
+  pull_request:
+
+jobs:
+  ament_lint_general:
+    name: ament_${{ matrix.linter }}
+    runs-on: ubuntu-latest
+    container:
+      image: rostooling/setup-ros-docker:ubuntu-jammy-ros-rolling-ros-base-latest
+    strategy:
+      fail-fast: false
+      matrix:
+          linter: [xmllint, cpplint, uncrustify, pep257, flake8]
+    steps:
+    - uses: actions/checkout@v4
+    - uses: ros-tooling/[email protected]
+      with:
+        linter: ${{ matrix.linter }}
+        distribution: rolling
+        package-name: "*"

.github/workflows/update_ci_image.yaml

@@ -65,9 +65,9 @@ jobs:
     steps:
       - uses: actions/checkout@v4
       - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v2
+        uses: docker/setup-buildx-action@v3
       - name: Login to Docker Hub
-        uses: docker/login-action@v2
+        uses: docker/login-action@v3
         with:
           registry: ghcr.io
           username: ${{ github.repository_owner }}
@@ -99,7 +99,7 @@ jobs:
       - name: Build and push ${{ github.ref_name }}
         if: steps.config.outputs.trigger == 'true'
         id: docker_build
-        uses: docker/build-push-action@v4
+        uses: docker/build-push-action@v5
         with:
           context: .
           pull: true

CONTRIBUTING.md

@@ -0,0 +1,18 @@
+Any contribution that you make to this repository will
+be under the Apache 2 License, as dictated by that
+[license](http://www.apache.org/licenses/LICENSE-2.0.html):
+
+~~~
+5. Submission of Contributions. Unless You explicitly state otherwise,
+   any Contribution intentionally submitted for inclusion in the Work
+   by You to the Licensor shall be under the terms and conditions of
+   this License, without any additional terms or conditions.
+   Notwithstanding the above, nothing herein shall supersede or modify
+   the terms of any separate license agreement you may have executed
+   with Licensor regarding such Contributions.
+~~~
+
+Contributors must sign-off each commit by adding a `Signed-off-by: ...`
+line to commit messages to certify that they have the right to submit
+the code they are contributing to the project according to the
+[Developer Certificate of Origin (DCO)](https://developercertificate.org/).

README.md

@@ -9,8 +9,8 @@
 For detailed instructions on how to:
 - [Getting Started](https://navigation.ros.org/getting_started/index.html)
 - [Concepts](https://navigation.ros.org/concepts/index.html)
-- [Build](https://navigation.ros.org/build_instructions/index.html#build)
-- [Install](https://navigation.ros.org/build_instructions/index.html#install)
+- [Build](https://navigation.ros.org/development_guides/build_docs/index.html#build)
+- [Install](https://navigation.ros.org/development_guides/build_docs/index.html#install)
 - [General Tutorials](https://navigation.ros.org/tutorials/index.html) and [Algorithm Developer Tutorials](https://navigation.ros.org/plugin_tutorials/index.html)
 - [Configure](https://navigation.ros.org/configuration/index.html)
 - [Navigation Plugins](https://navigation.ros.org/plugins/index.html)
@@ -20,16 +20,20 @@ For detailed instructions on how to:
 
 Please visit our [documentation site](https://navigation.ros.org/). [Please visit our community Slack here](https://join.slack.com/t/navigation2/shared_invite/zt-hu52lnnq-cKYjuhTY~sEMbZXL8p9tOw) (if this link does not work, please contact maintainers to reactivate).
 
+If you need professional services related to Nav2, please contact Open Navigation at [email protected].
+
 ## Our Sponsors
 
 Please thank our amazing sponsors for their generous support of Nav2 on behalf of the community to allow the project to continue to be professionally maintained, developed, and supported for the long-haul! [Open Navigation LLC](https://www.opennav.org/) provides project leadership, maintenance, development, and support services to the Nav2 & ROS community. 
 
 <p align="center">
-  <img src="doc/sponsors_may_2023.png" />
+  <img src="doc/sponsors_feb_2024.png" />
 </p>
 
 ### [Dexory](https://www.dexory.com/) develops robotics and AI logistics solutions to drive better business decisions using a digital twin of warehouses to provide inventory insights.
 
+### [Nvidia](https://www.nvidia.com/en-us/deep-learning-ai/industries/robotics/) develops GPU and AI technologies that power modern robotics, autonomous driving, data centers, gaming, and more.
+
 ### [Polymath Robotics](https://www.polymathrobotics.com/) creates safety-critical navigation systems for industrial vehicles that are radically simple to enable and deploy.
 
 ### [Stereolabs](https://www.stereolabs.com/) produces the high-quality ZED stereo cameras with a complete vision pipeline from neural depth to SLAM, 3D object tracking, AI and more.
@@ -68,6 +72,19 @@ If you use **any** of the algorithms in Nav2 or the analysis of the algorithms i
   }
 ```
 
+If you use the Smac Planner (Hybrid A*, State Lattice, 2D), please cite this work in your papers!
+
+- S. Macenski, M. Booker, J. Wallace, [**Open-Source, Cost-Aware Kinematically Feasible Planning for Mobile and Surface Robotics**](https://arxiv.org/abs/2401.13078). 2024.
+
+```bibtex
+@article{macenski2024smac,
+      title={Open-Source, Cost-Aware Kinematically Feasible Planning for Mobile and Surface Robotics}, 
+      author={Steve Macenski and Matthew Booker and Josh Wallace},
+      year={2024},
+      journal = {Arxiv}
+}
+```
+
 If you use the Regulated Pure Pursuit Controller algorithm or software from this repository, please cite this work in your papers!
 
 - S. Macenski, S. Singh, F. Martin, J. Gines, [**Regulated Pure Pursuit for Robot Path Tracking**](https://arxiv.org/abs/2305.20026). Autonomous Robots, 2023.

doc/sponsors_feb_2024.png

@@ -35,6 +35,7 @@
 #include "nav2_amcl/sensors/laser/laser.hpp"
 #include "nav2_msgs/msg/particle.hpp"
 #include "nav2_msgs/msg/particle_cloud.hpp"
+#include "nav2_msgs/srv/set_initial_pose.hpp"
 #include "nav_msgs/srv/set_map.hpp"
 #include "sensor_msgs/msg/laser_scan.hpp"
 #include "std_srvs/srv/empty.hpp"
@@ -210,6 +211,16 @@ class AmclNode : public nav2_util::LifecycleNode
     const std::shared_ptr<std_srvs::srv::Empty::Request> request,
     std::shared_ptr<std_srvs::srv::Empty::Response> response);
 
+  // service server for providing an initial pose guess
+  rclcpp::Service<nav2_msgs::srv::SetInitialPose>::SharedPtr initial_guess_srv_;
+  /*
+   * @brief Service callback for an initial pose guess request
+   */
+  void initialPoseReceivedSrv(
+    const std::shared_ptr<rmw_request_id_t> request_header,
+    const std::shared_ptr<nav2_msgs::srv::SetInitialPose::Request> request,
+    std::shared_ptr<nav2_msgs::srv::SetInitialPose::Response> response);
+
   // Let amcl update samples without requiring motion
   rclcpp::Service<std_srvs::srv::Empty>::SharedPtr nomotion_update_srv_;
   /*

doc/sponsors_jan_2024.png

@@ -49,7 +49,7 @@ typedef struct
 
 
 // Return a zero vector
-pf_vector_t pf_vector_zero();
+pf_vector_t pf_vector_zero(void);
 
 // Check for NAN or INF in any component
 // int pf_vector_finite(pf_vector_t a);
@@ -71,7 +71,7 @@ pf_vector_t pf_vector_coord_add(pf_vector_t a, pf_vector_t b);
 
 
 // Return a zero matrix
-pf_matrix_t pf_matrix_zero();
+pf_matrix_t pf_matrix_zero(void);
 
 // Check for NAN or INF in any component
 // int pf_matrix_finite(pf_matrix_t a);