183 lines
7.8 KiB
ReStructuredText
Executable File
183 lines
7.8 KiB
ReStructuredText
Executable File
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package mir_navigation
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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1.1.7 (2023-01-20)
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------------------
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* Don't set cmake_policy CMP0048
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* Add license headers
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* Fix flake8 warnings
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* Contributors: Martin Günther
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1.1.6 (2022-06-02)
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------------------
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* navigation: Reduce footprint to actual size
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This reduces the footprint:
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* 18 mm in front
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* 42 mm in the back
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* 27 mm at the sides
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Now the footprint exactly matches the bounding box of the mesh, with no
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padding. This should make navigation in tight spaces easier; let's hope
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it doesn't lead to collisions.
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* navigation: Move footprint_padding to proper namespace
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The footprint_padding parameter in the upper namespace was ignored,
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needed to be moved into local_costmap/global_costmap to take effect.
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* genmprim: Remove obsolete plt.hold()
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This fixes the following error:
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AttributeError: module 'matplotlib.pyplot' has no attribute 'hold'
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* mir_navigation: Remove static_map parameter
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This fixes the following warning:
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[ WARN] local_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided
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* Contributors: Martin Günther
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1.1.5 (2022-02-11)
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------------------
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1.1.4 (2021-12-10)
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------------------
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1.1.3 (2021-06-11)
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------------------
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* Merge branch 'melodic-2.8' into noetic
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* Rename tf frame and topic 'odom_comb' -> 'odom'
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This is how they are called on the real MiR since MiR software 2.0.
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* Reformat python code using black
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* Contributors: Martin Günther
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1.1.2 (2021-05-12)
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------------------
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* Uncomment available dependencies in noetic (`#79 <https://github.com/DFKI-NI/mir_robot/issues/79>`_)
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* Contributors: Oscar Lima
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1.1.1 (2021-02-11)
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------------------
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* Add optional namespace to launch files
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* Add prefix to start_planner.launch (`#67 <https://github.com/DFKI-NI/mir_robot/issues/67>`_)
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* Update scripts to Python3 (Noetic)
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* Contributors: Martin Günther
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1.1.0 (2020-06-30)
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------------------
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* Initial release into noetic
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* Remove hector_mapping dependency (not released in noetic)
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* Update scripts to Python3 (Noetic)
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* Contributors: Martin Günther
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1.0.6 (2020-06-30)
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------------------
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* Add missing matplotlib dependency
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* plot_mprim: Fix color display
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* Fix bug in genmprim_unicycle_highcost_5cm
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In Python3, np.arange doesn't accept floats.
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* Fix some catkin_lint warnings
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* Set cmake_policy CMP0048 to fix warning
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* Contributors: Martin Günther
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1.0.5 (2020-05-01)
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------------------
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* Rename hector_mapping.launch, add dependency
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* genmprim.py: Improve plotting
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* genmprim.py: Make executable
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* SBPL: Reduce allocated_time + initial_epsilon params
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This leads to shorter planning times, but will perhaps fail on larger
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maps.
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* Update mprim file to mir-software 2.0.17
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This was updated in 2.0.17 and hasn't changed through 2.6 at least.
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* Add genmprim_unicycle matlab + python script, fix mprim file
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* Adjust dwb params: split_path, finer trajectories (`#43 <https://github.com/DFKI-NI/mir_robot/issues/43>`_)
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- use split_path option to enforce following complex paths
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- more trajectory samples over a smaller simulated time. This fixes a
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problem where the robot would stop too far away from the goal, as all
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possible trajectories either overshot the goal, or were too short to
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reach into the next gridcell of the critics.
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- remove Oscillation critic (never helped)
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* added PathDistPrunedCritic for dwb (`#42 <https://github.com/DFKI-NI/mir_robot/issues/42>`_)
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which works exactly like the original PathDistCritic, except that it
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searches for a local minimum in the distance from the global path to the robots
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current position. It then prunes the global_path from the start up to
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this point, therefore approximately cutting of a segment of the path
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that the robot already followed.
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* Add default local_planner to move_base launch file
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This makes the hector_mapping Gazebo demo work with the instructions
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from the README (see `#32 <https://github.com/DFKI-NI/mir_robot/issues/32>`_).
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* Contributors: Martin Günther, Nils Niemann
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1.0.4 (2019-05-06)
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------------------
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* Rviz config: Add planned paths + costmap from real MiR
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* Contributors: Martin Günther
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1.0.3 (2019-03-04)
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------------------
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* fix frame_id for melodic (`#18 <https://github.com/DFKI-NI/mir_robot/issues/18>`_)
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* Tune dwb parameters
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* PathProgressCritic: Add heading score
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* Use dwb_local_planner in move_base config
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* Move footprint param to move_base root namespace
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This allows other move_base plugins, such as dwb_local_planner, to
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access this parameter.
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* Add hector_mapping
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* amcl.launch: Change default, remap service
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This is required if amcl.launch is started within a namespace.
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* teb_local_planner: Fix odom topic name
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* Merge pull request `#16 <https://github.com/DFKI-NI/mir_robot/issues/16>`_ from niniemann/add-prefix-argument-to-configs
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Add prefix argument to configs
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* adds $(arg prefix) to a lot of configs
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This is an important step to be able to re-parameterize move base,
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the diffdrive controller, ekf, amcl and the costmaps for adding a
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tf prefix to the robots links
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* mir_navigation: Adjust helper node topics
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* Add amcl launchfile (`#11 <https://github.com/DFKI-NI/mir_robot/issues/11>`_)
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* added amcl.launch
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* changed amcl params to default mir amcl parameters
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* Merge pull request `#13 <https://github.com/DFKI-NI/mir_robot/issues/13>`_ from niniemann/fix-virtual-walls
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The previous configuration of the local costmap didn't work for me -- obstacles seen in the laser scans were not added, or were overridden by the virtual\_walls\_map layer. Reordering the layers and loading the virtual walls before the obstacles fixes this for me.
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Also, I added a `with_virtual_walls` parameter to `start_maps.launch` and `start_planner.launch`.
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* added with_virtual_walls parameter to start_maps and start_planner
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* reorder local costmap plugins
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* Revert "mir_navigation: Disable virtual walls if no map file set"
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This reverts commit 0cfda301b2bb1e8b3458e698efd24a7901e5d132.
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The reason is that the `eval` keyword was introduced in kinetic, so it
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doesn't work in indigo.
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* mir_navigation: Update rviz config
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* mir_navigation: Disable virtual walls if no map file set
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* mir_navigation: Rename virtual_walls args + files
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* mir_navigation: Remove parameter first_map_only
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This parameter must be set to false (the default) when running SLAM
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(otherwise the map updates won't be received), and when running a static
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map_server it doesn't matter; even then, it should be false to allow
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restarting the map_server with a different map. Therefore this commit
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removes it altogether and leaves it at the default of "false".
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* split parameter files between mapping/planning (`#10 <https://github.com/DFKI-NI/mir_robot/issues/10>`_)
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The differences are simple: When mapping, first_map_only must be
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set to false, and the virtual walls plugin must not be loaded
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(else move_base will wait for a topic that is not going to be
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published).
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* Document move_base params, add max_planning_retries
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Setting max_planning_retries to 10 makes the planner fail faster if the
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planning problem is infeasible. By default, there's an infinite number
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of retries, so we had to wait until the planner_patience ran out (5 s).
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* Update rviz config
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Make topics relative, so that ROS_NAMESPACE=... works.
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* Switch to binary sbpl_lattice_planner dependency
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... instead of compiling from source.
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* Split scan_rep117 topic into two separate topics
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This fixes the problem that the back laser scanner was ignored in the
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navigation costmap in Gazebo (probably because in Gazebo, both laser
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scanners have the exact same timestamp).
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* mir_navigation: Add clear_params to move_base launch
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* mir_navigation: marking + clearing were switched
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Other than misleading names, this had no effect.
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* Contributors: Martin Günther, Nils Niemann, Noël Martignoni
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1.0.2 (2018-07-30)
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------------------
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1.0.1 (2018-07-17)
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------------------
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1.0.0 (2018-07-12)
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------------------
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* Initial release
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* Contributors: Martin Günther
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