From 57dc73eacd94c1f6ffa4c9614981054d39c0ea03 Mon Sep 17 00:00:00 2001 From: Ajay Adit J <62584240+AjayAdit@users.noreply.github.com> Date: Wed, 11 Dec 2024 23:53:48 +0530 Subject: [PATCH 01/11] Update writing_new_costmap2d_plugin.rst (#619) Order of plugins in plugins list has significance. This was one of the insights I got from spending considerable time troubleshooting inflation error I got when I added range layer. Hoping henceforth this piece of insight will help new user. Please do let me know if this is explicitly mentioned elsewhere in the documentation. Signed-off-by: Ajay Adit J <62584240+AjayAdit@users.noreply.github.com> --- plugin_tutorials/docs/writing_new_costmap2d_plugin.rst | 1 + 1 file changed, 1 insertion(+) diff --git a/plugin_tutorials/docs/writing_new_costmap2d_plugin.rst b/plugin_tutorials/docs/writing_new_costmap2d_plugin.rst index 609e11d01..aaf82678d 100644 --- a/plugin_tutorials/docs/writing_new_costmap2d_plugin.rst +++ b/plugin_tutorials/docs/writing_new_costmap2d_plugin.rst @@ -230,6 +230,7 @@ In this case each plugin object will be handled by its own parameters tree in a plugin: nav2_gradient_costmap_plugin::GradientLayer # In Iron and older versions, "/" was used instead of "::" enabled: False ... +NOTE: the order in which plugins are listed in the configuration is significant, as it determines the sequence in which they are applied to the costmap. For example, if the inflation layer is listed before the range layer, obstacles added to the costmap by the range layer will not be inflated. 4- Run GradientLayer plugin --------------------------- From 1e7510d7a1327afb33916b7f3afee7561c595361 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Thu, 12 Dec 2024 11:16:37 -0800 Subject: [PATCH 02/11] Fix simple spelling error Signed-off-by: Steve Macenski --- tuning/index.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tuning/index.rst b/tuning/index.rst index df9ca6f01..7e6085750 100644 --- a/tuning/index.rst +++ b/tuning/index.rst @@ -43,7 +43,7 @@ This was added due to quirks in some existing controllers whereas tuning the con Note: If using a non-holonomic, kinematically feasible planner (e.g. Smac Hybrid-A\*, Smac State Lattice), this is not a necessary behavioral optimization. This class of planner will create plans that take into account the robot's starting heading, not requiring any rotation behaviors. -This behavior is most optimially for: +This behavior is most optimally for: - Robots that can rotate in place, such as differential and omnidirectional robots. - Preference to rotate in place when starting to track a new path that is at a significantly different heading than the robot’s current heading – or when tuning your controller for its task makes tight rotations difficult. From 560f51127a40e84941541c2a693e80430245c998 Mon Sep 17 00:00:00 2001 From: alexanderjyuen <103065090+alexanderjyuen@users.noreply.github.com> Date: Thu, 12 Dec 2024 17:10:25 -0800 Subject: [PATCH 03/11] Plugin container layer docs (#615) * added docs for plugin container layer Signed-off-by: alexander * set default plugin list to empty string array Signed-off-by: alexander * added PluginContainerLayer in tuning guide Signed-off-by: alexander * added example image and settings to plugin container layer configuration guide Signed-off-by: alexander * clarified plugin descriptions Signed-off-by: alexander * Update configuration/packages/costmap-plugins/plugin_container.rst Co-authored-by: Steve Macenski Signed-off-by: alexanderjyuen <103065090+alexanderjyuen@users.noreply.github.com> * example image shows different inflations Signed-off-by: alexander * modified yaml to match example image Signed-off-by: alexander * added to Migration guide Signed-off-by: alexander * updated Migration wording Signed-off-by: alexander --------- Signed-off-by: alexander Signed-off-by: alexanderjyuen <103065090+alexanderjyuen@users.noreply.github.com> Co-authored-by: Steve Macenski --- .../packages/configuring-costmaps.rst | 1 + .../costmap-plugins/plugin_container.rst | 95 ++++++++++++++++++ .../plugin_container_layer.png | Bin 0 -> 44687 bytes migration/Jazzy.rst | 7 +- plugins/index.rst | 7 ++ tuning/index.rst | 1 + 6 files changed, 110 insertions(+), 1 deletion(-) create mode 100644 configuration/packages/costmap-plugins/plugin_container.rst create mode 100644 configuration/packages/costmap-plugins/plugin_container_layer.png diff --git a/configuration/packages/configuring-costmaps.rst b/configuration/packages/configuring-costmaps.rst index af5d33907..cd30178e1 100644 --- a/configuration/packages/configuring-costmaps.rst +++ b/configuration/packages/configuring-costmaps.rst @@ -349,6 +349,7 @@ Plugin Parameters costmap-plugins/voxel.rst costmap-plugins/range.rst costmap-plugins/denoise.rst + costmap-plugins/plugin_container.rst Costmap Filters Parameters ************************** diff --git a/configuration/packages/costmap-plugins/plugin_container.rst b/configuration/packages/costmap-plugins/plugin_container.rst new file mode 100644 index 000000000..50fab01c0 --- /dev/null +++ b/configuration/packages/costmap-plugins/plugin_container.rst @@ -0,0 +1,95 @@ +.. plugin_container: + +Plugin Container Layer Parameters +================================= + +This implements a costmap layer which combines costmap layers within a submap, which can then be integrated with other submaps in the same parent costmap. An example would be the use of different inflation layers for different sensors, objects, or static layers + +```` is the corresponding plugin name selected for this type. + +:````.enabled: + + ==== ======= + Type Default + ---- ------- + bool True + ==== ======= + + Description + Whether it is enabled. + +:````.plugins: + + ============== ======= + Type Default + -------------- ------- + vector {} + ============== ======= + + Description + List of mapped costmap layer names for parameter namespaces and names. + + Note + Costmap filters are presently unsupported + +Example +******* +.. code-block:: yaml + + global_costmap: + ros__parameters: + update_frequency: 1.0 + publish_frequency: 1.0 + global_frame: map + robot_base_frame: base_link + robot_radius: 0.22 + resolution: 0.05 + track_unknown_space: true + + plugins: ["plugin_container_static_layer", "plugin_container_obstacle_layer"] + + plugin_container_static_layer: + plugin: "nav2_costmap_2d::PluginContainerLayer" + enabled: True + combination_method: 1 + plugins: ["static_layer", "inflation_layer"] + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: True + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 2.0 + inflation_radius: 0.5 + + plugin_container_obstacle_layer: + plugin: "nav2_costmap_2d::PluginContainerLayer" + enabled: True + combination_method: 1 + plugins: ["obstacle_layer", "inflation_layer"] + obstacle_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + enabled: True + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 1.0 + +The above example settings, when applied to the Nav2 turtlebot simulation would give the following costmap on startup + +.. figure:: plugin_container_layer.png + :align: center + :alt: Costmap generated by plugin container layer + + Costmap generated by turtlebot using example plugin container layer settings + diff --git a/configuration/packages/costmap-plugins/plugin_container_layer.png b/configuration/packages/costmap-plugins/plugin_container_layer.png new file mode 100644 index 0000000000000000000000000000000000000000..c5d0a513c45d66ce067bcc7c9b0a7555f33fcded GIT binary patch literal 44687 zcmeFZXCR#Ww>CUGy=_7gB~cPJ5rPmzO`=6lFv<`k+605>b&w)D8!~S-8-0NPywXStt*An_jTlLQ~m(M^T zkU!NPD(ONX$6iAqM`uo*0AINoX@e($NNa2;?e6P3gYASL*V3K*WR`)A*BAKWRN z`S?v@Q{~!_XzV*JOttpoQGqYu|^83gSyzYvVjf?W;I{AkTg%v6?q7=f%!RDQv7 z>65*h@#AqV&lf?N??*2>mzE?%jJl=e7G($BR4(9soV~56=t8DXUJH@#{#s2Mt9D(H z%b+(m@`K~%QmePp)~9~movZ!r8gS5Ha#lB(iN47mq2sh=({o|==#Ut{QMaGD-1>{n zj+298oZ#Z8Pk-_SNr#=w;C3PNmyTZpFM%%}pFaX#Sy=x6%m0s}k(h?B{{zya>M5AP z;oBj!wGt|0#uC7`ZkxRRYcuO)9}Zn@DpYJOH?jt6Df>QnXJHf4SnxdfJa`I?jn_~8 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This would allow for different isolated combinations of costmap layers to be combined under one parent costmap instead of the current implementation which would indiscriminately combine all costmap layers together. diff --git a/plugins/index.rst b/plugins/index.rst index 12772dc02..9235d4efa 100644 --- a/plugins/index.rst +++ b/plugins/index.rst @@ -70,6 +70,12 @@ Costmap Layers | | | standalone obstacles or small | | | | obstacles groups | +--------------------------------+------------------------+----------------------------------+ +| `Plugin Container Layer`_ | Alexander Yuen | Combines the different costmap | +| | | layers specified under this | +| | | layer in order populate the same | +| | | costmap with different isolated | +| | | combinations of costmap layers | ++--------------------------------+------------------------+----------------------------------+ .. _Voxel Layer: https://github.com/ros-navigation/navigation2/tree/main/nav2_costmap_2d/plugins/voxel_layer.cpp .. _Static Layer: https://github.com/ros-navigation/navigation2/tree/main/nav2_costmap_2d/plugins/static_layer.cpp @@ -79,6 +85,7 @@ Costmap Layers .. _Spatio-Temporal Voxel Layer: https://github.com/SteveMacenski/spatio_temporal_voxel_layer/ .. _Non-Persistent Voxel Layer: https://github.com/SteveMacenski/nonpersistent_voxel_layer .. _Denoise Layer: https://github.com/ryzhikovas/navigation2/tree/feature-costmap2d-denoise/nav2_costmap_2d/plugins/denoise_layer.cpp +.. _Plugin Container Layer: https://github.com/ros-navigation/navigation2/tree/main/nav2_costmap_2d/plugins/plugin_container_layer.cpp Costmap Filters =============== diff --git a/tuning/index.rst b/tuning/index.rst index 7e6085750..80375f3d7 100644 --- a/tuning/index.rst +++ b/tuning/index.rst @@ -133,6 +133,7 @@ Costmap2D has a number of plugins that you can use (including the availability f - ``SpatioTemporalVoxelLayer``: 3D costmap layer for 3D lidars, non-planar 2D lidars, or depth camera processing based on temporal decay. Useful for robots with high sensor coverage like 3D lidars or many depth cameras at a reduced computational overhead due to lack of raycasting. - ``RangeLayer``: Models sonars, IR sensors, or other range sensors for costmap inclusion - ``DenoiseLayer``: Removes salt and pepper noise from final costmap in order to remove unfiltered noise. Also has the option to remove clusters of configurable size to remove effects of dynamic obstacles without temporal decay. +- ``PluginContainerLayer``: Combines the costmap layers specified within this plugin, resulting in an internal costmap that is a product of the costmap layers specified under this layer. This would allow different isolated combinations of costmap layers within the same parent costmap, such as applying a different inflation layers to static layers and obstacle layers In addition, costmap filters: - ``KeepoutFilter``: Marks keepout, higher weighted, or lower weighted zones in the costmap From 5bda46a706e6662615a3386e852e36389e92a6e6 Mon Sep 17 00:00:00 2001 From: Michael Ferguson Date: Thu, 12 Dec 2024 20:44:36 -0500 Subject: [PATCH 04/11] fix parameter name to enable_stamped_cmd_vel (#623) Signed-off-by: Michael Ferguson --- migration/Jazzy.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/migration/Jazzy.rst b/migration/Jazzy.rst index a34655d89..b428e4b9d 100644 --- a/migration/Jazzy.rst +++ b/migration/Jazzy.rst @@ -13,7 +13,7 @@ it also allows for rejection of stale velocity messages, which can be useful in Your robot should now subscribe to a ``TwistStamped`` message instead of a ``Twist`` message & update your simulation appropriately. The topic names are the same. -However, this can be disabled by setting ``enable_twist_stamped`` to ``false`` in the ``nav2_params.yaml`` file for all nodes that involve Twist subscriptions or publications. +However, this can be disabled by setting ``enable_stamped_cmd_vel`` to ``false`` in the ``nav2_params.yaml`` file for all nodes that involve Twist subscriptions or publications. See the configuration guide for more information on how to configure this parameter for each node. An example simulation migration using Gazebo can be seen in the `following pull request for the Turtlebot 3 and 4 `_. From 8945bbef5ea583a584dc5096ed7d15c68565e800 Mon Sep 17 00:00:00 2001 From: Michael Ferguson Date: Fri, 20 Dec 2024 15:49:02 -0500 Subject: [PATCH 05/11] update docs for iterative graceful controller (#624) * update docs for iterative graceful controller Signed-off-by: Michael Ferguson * add add_orientations Signed-off-by: Michael Ferguson * updates after review comments Signed-off-by: Michael Ferguson * additional review udpates Signed-off-by: Michael Ferguson * update notes on initial rotation tolerance Signed-off-by: Michael Ferguson * trailing whitespace Signed-off-by: Michael Ferguson * update defaults for control law Signed-off-by: Michael Ferguson * add omni, legged Signed-off-by: Michael Ferguson * update migration docs Signed-off-by: Michael Ferguson * spelling/linter Signed-off-by: Michael Ferguson --------- Signed-off-by: Michael Ferguson --- ...configuring-graceful-motion-controller.rst | 67 ++++++++++++++----- migration/Jazzy.rst | 10 +++ plugins/index.rst | 4 +- 3 files changed, 63 insertions(+), 18 deletions(-) diff --git a/configuration/packages/configuring-graceful-motion-controller.rst b/configuration/packages/configuring-graceful-motion-controller.rst index e6b1f56d3..359bc54ff 100644 --- a/configuration/packages/configuring-graceful-motion-controller.rst +++ b/configuration/packages/configuring-graceful-motion-controller.rst @@ -25,16 +25,27 @@ Graceful Controller Parameters Description The TF transform tolerance (s). -:motion_target_dist: +:max_lookahead: ============== ============================= Type Default -------------- ----------------------------- - double 0.6 + double 1.0 ============== ============================= Description - The lookahead distance (m) to use to find the motion_target point. + The maximum lookahead distance (m) to use when selecting a target pose for the underlying control law. Using poses that are further away will generally result in smoother operations, but simulating poses that are very far away can result in reduced performance, especially in tight or cluttered environments. If the controller cannot forward simulate to a pose this far away without colliding, it will iteratively select a target pose that is closer to the robot. + +:min_lookahead: + + ============== ============================= + Type Default + -------------- ----------------------------- + double 0.25 + ============== ============================= + + Description + The minimum lookahead distance (m) to use when selecting a target pose for the underlying control law. This parameter avoids instability when an unexpected obstacle appears in the path of the robot by returning failure, which typically triggers replanning. :max_robot_pose_search_dist: @@ -52,29 +63,29 @@ Graceful Controller Parameters ============== ============================= Type Default -------------- ----------------------------- - double 3.0 + double 2.0 ============== ============================= Description - Ratio of the rate of change in phi to the rate of change in r. Controls the convergence of the slow subsystem. If this value is equal to zero, the controller will behave as a pure waypoint follower. A high value offers extreme scenario of pose-following where theta is reduced much faster than r. + Ratio of the rate of change in phi to the rate of change in r. Controls the convergence of the slow subsystem. If this value is equal to zero, the controller will behave as a pure waypoint follower. A high value offers extreme scenario of pose-following where theta is reduced much faster than r. The referenced paper calls this `k1`. :k_delta: ============== ============================= Type Default -------------- ----------------------------- - double 2.0 + double 1.0 ============== ============================= Description - Constant factor applied to the heading error feedback. Controls the convergence of the fast subsystem. The bigger the value, the robot converge faster to the reference heading. + Constant factor applied to the heading error feedback. Controls the convergence of the fast subsystem. The bigger the value, the robot converge faster to the reference heading. The referenced paper calls this `k2`. :beta: ============== ============================= Type Default -------------- ----------------------------- - double 0.2 + double 0.4 ============== ============================= Description @@ -124,6 +135,17 @@ Graceful Controller Parameters Description Maximum angular velocity (rad/s) produced by the control law. +:v_angular_min_in_place: + + ============== ============================= + Type Default + -------------- ----------------------------- + double 0.25 + ============== ============================= + + Description + Minimum angular velocity (rad/s) produced by the control law when rotating in place. This value should be based on the minimum rotation speed controllable by the robot. + :slowdown_radius: ============== ============================= @@ -146,18 +168,18 @@ Graceful Controller Parameters Description Enable a rotation in place to the goal before starting the path. The control law may generate large sweeping arcs to the goal pose, depending on the initial robot orientation and ``k_phi``, ``k_delta``. -:initial_rotation_min_angle: +:initial_rotation_tolerance: ============== ============================= Type Default -------------- ----------------------------- - double 0.75 + double 0.75 ============== ============================= Description - The difference in the path orientation and the starting robot orientation to trigger a rotate in place, if ``initial_rotation`` is enabled. + The difference in the path orientation and the starting robot orientation to trigger a rotate in place, if ``initial_rotation`` is enabled. This value is generally acceptable if continuous replanning is enabled. If not using continuous replanning, a lower value may perform better. -:final_rotation: +:prefer_final_rotation: ============== ============================= Type Default @@ -166,7 +188,7 @@ Graceful Controller Parameters ============== ============================= Description - Similar to ``initial_rotation``, the control law can generate large arcs when the goal orientation is not aligned with the path. If this is enabled, the final pose will be ignored and the robot will follow the orientation of he path and will make a final rotation in place to the goal orientation. + The control law can generate large arcs when the goal orientation is not aligned with the path. If this is enabled, the orientation of the final pose will be ignored and the robot will follow the orientation of the path and will make a final rotation in place to the goal orientation. :rotation_scaling_factor: @@ -190,6 +212,17 @@ Graceful Controller Parameters Description Whether to allow the robot to move backward. +:in_place_collision_tolerance: + + ============== ============================= + Type Default + -------------- ----------------------------- + double 0.1 + ============== ============================= + + Description + When performing an in-place rotation after the XY goal tolerance has been met, this is the angle (in radians) between poses to check for collision. + Example ******* .. code-block:: yaml @@ -217,10 +250,11 @@ Example FollowPath: plugin: nav2_graceful_controller::GracefulController transform_tolerance: 0.1 - motion_target_dist: 0.6 + min_lookahead: 0.25 + max_lookahead: 1.0 initial_rotation: true - initial_rotation_min_angle: 0.75 - final_rotation: true + initial_rotation_threshold: 0.75 + prefer_final_rotation: true allow_backward: false k_phi: 3.0 k_delta: 2.0 @@ -229,4 +263,5 @@ Example v_linear_min: 0.1 v_linear_max: 1.0 v_angular_max: 5.0 + v_angular_min_in_place: 0.25 slowdown_radius: 1.5 diff --git a/migration/Jazzy.rst b/migration/Jazzy.rst index b428e4b9d..b36800190 100644 --- a/migration/Jazzy.rst +++ b/migration/Jazzy.rst @@ -204,3 +204,13 @@ New Plugin Container Layer ************************** In `PR #4781 `_ a costmap layer plugin type was added to support the grouping of different costmap layers under a single costmap layer. This would allow for different isolated combinations of costmap layers to be combined under one parent costmap instead of the current implementation which would indiscriminately combine all costmap layers together. + +Iterative Target Selection for the Graceful Controller +****************************************************** + +In `PR #4795 `_ the ``nav2_graceful_controller`` was updated to iteratively select motion targets. This is a large refactor which significantly improves the performance of the controller. The ``motion_target_dist`` parameter has been replaced by ``min_lookahead`` and ``max_lookahead`` parameters. Additional changes include: + +* Improved defaults for ``k_phi``, ``k_delta``, ``beta`` parameters of the underlying control law. +* Automatic creation of orientations for the plan if they are missing. +* Addition of ``v_angular_min_in_place`` parameter to avoid the robot getting stuck while rotating due to mechanical limitations. +* ``final_rotation`` has been renamed ``prefer_final_rotation`` and the behavior has changed slightly. diff --git a/plugins/index.rst b/plugins/index.rst index 9235d4efa..d040adc4a 100644 --- a/plugins/index.rst +++ b/plugins/index.rst @@ -133,8 +133,8 @@ Controllers | | | to path heading before passing | model rotate in place | | | | to main controller for tracking. | | +--------------------------------+-----------------------+------------------------------------+-----------------------+ -| `Graceful Controller`_ | Alberto Tudela | A controller based on a | Differential | -| | | pose-following control law to | | +| `Graceful Controller`_ | Alberto Tudela | A controller based on a | Differential, Omni, | +| | | pose-following control law to | Legged | | | | generate smooth trajectories. | | +--------------------------------+-----------------------+------------------------------------+-----------------------+ | `Vector Pursuit Controller`_ | Black Coffee Robotics | A controller based on the vector | Differential, | From 9023e6898eb612740b0409a4d48a8a898baa601a Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Fri, 27 Dec 2024 15:59:14 -0800 Subject: [PATCH 06/11] Bump jinja2 from 3.0.3 to 3.1.5 (#625) Bumps [jinja2](https://github.com/pallets/jinja) from 3.0.3 to 3.1.5. - [Release notes](https://github.com/pallets/jinja/releases) - [Changelog](https://github.com/pallets/jinja/blob/main/CHANGES.rst) - [Commits](https://github.com/pallets/jinja/compare/3.0.3...3.1.5) --- updated-dependencies: - dependency-name: jinja2 dependency-type: direct:production ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- requirements.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/requirements.txt b/requirements.txt index c5ddc8488..5d07a7f8d 100644 --- a/requirements.txt +++ b/requirements.txt @@ -1,6 +1,6 @@ breathe==4.35.0 docutils==0.15 -jinja2==3.0.3 +jinja2==3.1.5 myst-parser==1.0.0 sphinx_copybutton==0.5.2 sphinx_rtd_theme==2.0.0 From 902167a510c775b4c7c0e66594994c1850b20631 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Thu, 2 Jan 2025 15:44:13 -0800 Subject: [PATCH 07/11] adding in sponsorship graphic update (#627) Signed-off-by: Steve Macenski --- images/sponsors_jan_2025.png | Bin 0 -> 180794 bytes index.rst | 2 +- 2 files changed, 1 insertion(+), 1 deletion(-) create mode 100644 images/sponsors_jan_2025.png diff --git a/images/sponsors_jan_2025.png b/images/sponsors_jan_2025.png new file mode 100644 index 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Fri, 3 Jan 2025 08:49:43 +0800 Subject: [PATCH 08/11] Add more details for class name (#626) * Add more details for class name Signed-off-by: Maurice-1235 * Fix indent Signed-off-by: Maurice-1235 --------- Signed-off-by: Maurice-1235 --- .gitignore | 3 +++ plugin_tutorials/docs/writing_new_behavior_plugin.rst | 2 +- plugin_tutorials/docs/writing_new_nav2controller_plugin.rst | 2 +- plugin_tutorials/docs/writing_new_nav2planner_plugin.rst | 2 +- plugin_tutorials/docs/writing_new_navigator_plugin.rst | 2 +- 5 files changed, 7 insertions(+), 4 deletions(-) diff --git a/.gitignore b/.gitignore index e35d8850c..d96903f2c 100644 --- a/.gitignore +++ b/.gitignore @@ -1 +1,4 @@ _build +lib/ +bin/ +pyvenv.cfg \ No newline at end of file diff --git a/plugin_tutorials/docs/writing_new_behavior_plugin.rst b/plugin_tutorials/docs/writing_new_behavior_plugin.rst index 045e381e4..f08a37889 100644 --- a/plugin_tutorials/docs/writing_new_behavior_plugin.rst +++ b/plugin_tutorials/docs/writing_new_behavior_plugin.rst @@ -164,7 +164,7 @@ It is good practice to place these lines at the end of the file but technically, 2. Next step would be to create plugin's description file in the root directory of the package. For example, ``behavior_plugin.xml`` file in our tutorial package. This file contains following information - ``library path``: Plugin's library name and it's location. - - ``class name``: Name of the class. + - ``class name``: Name of the class (optional). If not set, it will default to the ``class type``. - ``class type``: Type of class. - ``base class``: Name of the base class. - ``description``: Description of the plugin. diff --git a/plugin_tutorials/docs/writing_new_nav2controller_plugin.rst b/plugin_tutorials/docs/writing_new_nav2controller_plugin.rst index 52c7e27b0..07d3a4215 100644 --- a/plugin_tutorials/docs/writing_new_nav2controller_plugin.rst +++ b/plugin_tutorials/docs/writing_new_nav2controller_plugin.rst @@ -221,7 +221,7 @@ It is good practice to place these lines at the end of the file, but technically 2. The next step would be to create the plugin's description file in the root directory of the package. For example, ``pure_pursuit_controller_plugin.xml`` file in our tutorial package. This file contains the following information - ``library path``: Plugin's library name and its location. -- ``class name``: Name of the class. +- ``class name``: Name of the class (optional). If not set, it will default to the ``class type``. - ``class type``: Type of class. - ``base class``: Name of the base class. - ``description``: Description of the plugin. diff --git a/plugin_tutorials/docs/writing_new_nav2planner_plugin.rst b/plugin_tutorials/docs/writing_new_nav2planner_plugin.rst index 9dd5a1762..646547e65 100644 --- a/plugin_tutorials/docs/writing_new_nav2planner_plugin.rst +++ b/plugin_tutorials/docs/writing_new_nav2planner_plugin.rst @@ -154,7 +154,7 @@ It is good practice to place these lines at the end of the file, but technically 2. Next step would be to create plugin's description file in the root directory of the package. For example, ``global_planner_plugin.xml`` file in our tutorial package. This file contains the following information - ``library path``: Plugin's library name and its location. - - ``class name``: Name of the class. + - ``class name``: Name of the class (optional). If not set, it will default to the ``class type``. - ``class type``: Type of class. - ``base class``: Name of the base class. - ``description``: Description of the plugin. diff --git a/plugin_tutorials/docs/writing_new_navigator_plugin.rst b/plugin_tutorials/docs/writing_new_navigator_plugin.rst index 29c3a36cf..fff8d4d56 100644 --- a/plugin_tutorials/docs/writing_new_navigator_plugin.rst +++ b/plugin_tutorials/docs/writing_new_navigator_plugin.rst @@ -280,7 +280,7 @@ It is good practice to place these lines at the end of the file, but technically 2. The next step would be to create the plugin's description file in the root directory of the package. For example, ``navigator_plugin.xml`` file in our tutorial package. This file contains the following information - ``library path``: Plugin's library name and it's location. -- ``class name``: Name of the class. +- ``class name``: Name of the class (optional). If not set, it will default to the ``class type``. - ``class type``: Type of class. - ``base class``: Name of the base class. - ``description``: Description of the plugin. From aaa5a5292601ad7d7ebd39d31660837aaeb80b34 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Thu, 2 Jan 2025 16:51:13 -0800 Subject: [PATCH 09/11] Adding in roscon talks page (#628) * adding in roscon page Signed-off-by: Steve Macenski * Update roscon.rst Signed-off-by: Steve Macenski --------- Signed-off-by: Steve Macenski --- about/roscon.rst | 29 +++++++++++++++++++++++++++++ index.rst | 1 + 2 files changed, 30 insertions(+) create mode 100644 about/roscon.rst diff --git a/about/roscon.rst b/about/roscon.rst new file mode 100644 index 000000000..920e7da55 --- /dev/null +++ b/about/roscon.rst @@ -0,0 +1,29 @@ +.. _roscon: + +ROSCon Talks +############ + +Below is a list of ROSCon talks that have been given by the Nav2 team and the community which describe important features, tuning and configuration advice, and how to work with them in your applications. + +Nav2 Developer Talks +#################### + +- `ROSCon 2024: On Use of Nav2 Docking `_ +- `ROSCon FR 2023: Nav2 Whys over What's: Navigating the Philosophies Behind the Features `_ +- `ROSCon 2023: On Use of Nav2 MPPI Controller `_ +- `ROSCon 2023: Bidirectional navigation with Nav2 `_ +- `ROSCon 2022: On Use of Nav2 Smac Planners `_ +- `ROSCon JP 2021: The Past, Present, and Future of Navigation `_ +- `ROSCon 2021: Chronicles of Caching and Containerising CI for Nav2 `_ +- `ROSCon 2020: Navigation2: The Next Generation Navigation System `_ +- `ROSCon 2019: On Use of SLAM Toolbox `_ +- `ROSCon 2019: Navigation 2 Overview `_ +- `ROSCon 2018: On Use of the Spatio-Temporal Voxel Layer `_ + +Community's Talks +################# + +- `ROSCon ES 2024: Navegación robusta en ROS2 `_ +- `ROSCon 2022: BehaviorTree.CPP 4.0. What is new and roadmap `_ +- `ROSCon 2024: Mobile Robotics Scale-up Leveraging ROS `_ +- `ROSCon 2024: Radar Tracks for Path Planning in the presence of Dynamic Obstacles `_ diff --git a/index.rst b/index.rst index 586dbdeed..654a3786b 100644 --- a/index.rst +++ b/index.rst @@ -193,6 +193,7 @@ IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021 concepts/index.rst setup_guides/index.rst about/robots.rst + about/roscon.rst tutorials/index.rst plugin_tutorials/index.rst configuration/index.rst From 8c70eef4a41c5c8ffc914f29ff9bee9df5cdfacc Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Thu, 2 Jan 2025 16:58:34 -0800 Subject: [PATCH 10/11] fixing header error Signed-off-by: Steve Macenski --- about/roscon.rst | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/about/roscon.rst b/about/roscon.rst index 920e7da55..f303fe24d 100644 --- a/about/roscon.rst +++ b/about/roscon.rst @@ -6,7 +6,7 @@ ROSCon Talks Below is a list of ROSCon talks that have been given by the Nav2 team and the community which describe important features, tuning and configuration advice, and how to work with them in your applications. Nav2 Developer Talks -#################### +-------------------- - `ROSCon 2024: On Use of Nav2 Docking `_ - `ROSCon FR 2023: Nav2 Whys over What's: Navigating the Philosophies Behind the Features `_ @@ -21,7 +21,7 @@ Nav2 Developer Talks - `ROSCon 2018: On Use of the Spatio-Temporal Voxel Layer `_ Community's Talks -################# +----------------- - `ROSCon ES 2024: Navegación robusta en ROS2 `_ - `ROSCon 2022: BehaviorTree.CPP 4.0. What is new and roadmap `_ From c6d3443cb1562592a39381e0773650b2592e4bc6 Mon Sep 17 00:00:00 2001 From: Burak Can Kaya <146545020+BCKSELFDRIVEWORLD@users.noreply.github.com> Date: Sun, 5 Jan 2025 22:22:55 +0300 Subject: [PATCH 11/11] Update docker_dev.rst (#629) fix typo Signed-off-by: Burak Can Kaya <146545020+BCKSELFDRIVEWORLD@users.noreply.github.com> --- tutorials/docs/docker_dev.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tutorials/docs/docker_dev.rst b/tutorials/docs/docker_dev.rst index 2572dceb9..18f6d7339 100644 --- a/tutorials/docs/docker_dev.rst +++ b/tutorials/docs/docker_dev.rst @@ -190,7 +190,7 @@ Now we can do something fun while we have both terminals of the same docker cont .. code-block:: bash - ros2 run ros2 run demo_nodes_cpp talker + ros2 run demo_nodes_cpp talker ros2 run demo_nodes_py listener ------------