348 lines
19 KiB
ReStructuredText
Executable File
348 lines
19 KiB
ReStructuredText
Executable File
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package costmap_2d
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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1.17.3 (2023-01-10)
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-------------------
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* [ROS-O] various patches (`#1225 <https://github.com/ros-planning/navigation/issues/1225>`_)
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* do not specify obsolete c++11 standard
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this breaks with current versions of log4cxx.
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* update pluginlib include paths
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the non-hpp headers have been deprecated since kinetic
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* use lambdas in favor of boost::bind
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Using boost's _1 as a global system is deprecated since C++11.
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The ROS packages in Debian removed the implicit support for the global symbols,
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so this code fails to compile there without the patch.
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* Contributors: Michael Görner
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1.17.2 (2022-06-20)
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-------------------
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* Removed unused variables in costmap_2d_ros (`#1126 <https://github.com/ros-planning/navigation/issues/1126>`_)
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remove unused `robot_stopped\_`, `old_pose\_` and `timer\_`
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* Check if stamp of transformed pose is non-zero (`#1200 <https://github.com/ros-planning/navigation/issues/1200>`_)
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* fix crashes in AMCL (`#1152 <https://github.com/ros-planning/navigation/issues/1152>`_)
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* fix: catch runtime_error from roscore
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* ignore malformed message from laser, otherwise it will crash
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* The main function has to return an int value. (`#1101 <https://github.com/ros-planning/navigation/issues/1101>`_)
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* fix boundary point exclusion in convexFillCells (`#1095 <https://github.com/ros-planning/navigation/issues/1095>`_)
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* Fix deadlock when starting map with map-update-frequency set to zero (`#1072 <https://github.com/ros-planning/navigation/issues/1072>`_)
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Co-authored-by: Dima Dorezyuk <dorezyuk@magazino.eu>
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* Increase scope of costmap mutex in publishCostmap to cover costmap calls (`#992 <https://github.com/ros-planning/navigation/issues/992>`_)
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* costmap_2d: remove useless and buggy testing helper function (`#1069 <https://github.com/ros-planning/navigation/issues/1069>`_) (`#1070 <https://github.com/ros-planning/navigation/issues/1070>`_)
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Co-authored-by: JF Dalbosco <jean-francois.dalbosco@safrangroup.com>
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* Fix future robot pose by Costmap2D (`#1066 <https://github.com/ros-planning/navigation/issues/1066>`_)
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Co-authored-by: Pavlo Kolomiiets <pavlo@blindnology.com>
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* use const-ref-getter for strings and vectors (`#1035 <https://github.com/ros-planning/navigation/issues/1035>`_)
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Co-authored-by: Dima Dorezyuk <dorezyuk@magazino.eu>
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* move enabled-logic to the LayeredCostmap (`#1036 <https://github.com/ros-planning/navigation/issues/1036>`_)
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Co-authored-by: Dima Dorezyuk <dorezyuk@magazino.eu>
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* cosmetic change (`#1055 <https://github.com/ros-planning/navigation/issues/1055>`_)
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* costmap_2d: Add missing package dependency to Eigen (`#1033 <https://github.com/ros-planning/navigation/issues/1033>`_)
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* Add invert_area_to_clear to clear costmap recovery behavior (`#1030 <https://github.com/ros-planning/navigation/issues/1030>`_)
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* Contributors: Atsushi Watanabe, ChristofDubs, Dhruv Maroo, Dima Dorezyuk, G.Doisy, Griswald Brooks, Noriaki Ando, Pavlo Kolomiiets, Yuki Furuta, Yukihiro Saito, easylyou, jdalbosc
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1.17.1 (2020-08-27)
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-------------------
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* add explicit call to ros::Timer::stop in the destructor (`#984 <https://github.com/ros-planning/navigation/issues/984>`_)
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Co-authored-by: Dima Dorezyuk <dorezyuk@magazino.eu>
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* Exposing stopped\_ variable in costmap2D_ros with the getter function isStopped (`#913 <https://github.com/ros-planning/navigation/issues/913>`_)
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* use const for getter methods (`#948 <https://github.com/ros-planning/navigation/issues/948>`_)
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* Contributors: Dima Dorezyuk, Marco Bassa, Yuki Furuta
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1.17.0 (2020-04-02)
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-------------------
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* Merge pull request `#982 <https://github.com/ros-planning/navigation/issues/982>`_ from ros-planning/noetic_prep
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Noetic Migration
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* fix invalid memory access
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* attempt to get test to run
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* increase required cmake version
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* Contributors: Michael Ferguson
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1.16.6 (2020-03-18)
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-------------------
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1.16.5 (2020-03-15)
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-------------------
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* [melodic] updated install for better portability. (`#973 <https://github.com/ros-planning/navigation/issues/973>`_)
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* Contributors: Sean Yen
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1.16.4 (2020-03-04)
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-------------------
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* fix published footprint topic name (`#947 <https://github.com/cobalt-robotics/navigation/issues/947>`_)
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The default name of the topic will be updated in noetic
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* fix usage of size_locked, fixes `#959 <https://github.com/cobalt-robotics/navigation/issues/959>`_ (`#966 <https://github.com/cobalt-robotics/navigation/issues/966>`_)
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* [Windows][melodic] Navigation (except for map_server and amcl) Windows build bring up (`#851 <https://github.com/cobalt-robotics/navigation/issues/851>`_)
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* Merge pull request `#957 <https://github.com/cobalt-robotics/navigation/issues/957>`_ from Blindnology/melodic-updateOrigin
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Optimize costmap_2d::updateOrigin
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* Optimize costmap_2d::updateOrigin
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* Contributors: Michael Ferguson, Pavlo Kolomiiets, Sean Yen, Yuki Furuta
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1.16.3 (2019-11-15)
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-------------------
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* Merge pull request `#877 <https://github.com/ros-planning/navigation/issues/877>`_ from SteveMacenski/layer_clear_area-melodic
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[melodic] moving clearing area method to costmap_layer so other applications can clear other types.
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* Merge branch 'melodic-devel' into layer_clear_area-melodic
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* Drop Parameter Magic (`#893 <https://github.com/ros-planning/navigation/issues/893>`_)
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* Fixes `#782 <https://github.com/ros-planning/navigation/issues/782>`_ (`#892 <https://github.com/ros-planning/navigation/issues/892>`_)
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* Costmap_2d plugin universal parameters and pre-hydro warnings (`#738 <https://github.com/ros-planning/navigation/issues/738>`_)
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* Comment and description clarification
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* Renamed resetOldParameters to loadOldParameters
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* Upscaled pre-hydro parameter info message to warning and added costmap-name
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* Warn user when static_map or map_type is set but not used while plugins are used
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* Added function that copies parent parameters inside each layer (makes it possible to set a global inflation_radius)
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* use parameter magic
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* Changed logic for when to resize layered costmap in static layer (`#792 <https://github.com/ros-planning/navigation/issues/792>`_)
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* Changed logic for when to resize layered costmap in static layer
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-Now the master layered costmap should no longer get resized when
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isSizeLocked returns true
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* Fixing format for if loop
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* clear area in layer for melodic
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* [kinetic] Fix Bounds Bug (plus test) (`#871 <https://github.com/ros-planning/navigation/issues/871>`_) (`#875 <https://github.com/ros-planning/navigation/issues/875>`_)
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* fix map bounds bug
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* Add test
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* Fix install (`#855 <https://github.com/ros-planning/navigation/issues/855>`_)
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* Add additional linked libraries (`#803 <https://github.com/ros-planning/navigation/issues/803>`_)
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* Contributors: David V. Lu!!, Martin Ganeff, Michael Ferguson, Steven Macenski, stevemacenski
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1.16.2 (2018-07-31)
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-------------------
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* Merge pull request `#773 <https://github.com/ros-planning/navigation/issues/773>`_ from ros-planning/packaging_fixes
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packaging fixes
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* update costmap_2d cmake
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* explicit dependency on tf2
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* remove old PCL disable crap
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* Contributors: Michael Ferguson
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1.16.1 (2018-07-28)
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-------------------
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* Merge pull request `#770 <https://github.com/ros-planning/navigation/issues/770>`_ from ros-planning/fix_debians
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Fix debian builds (closes `#769 <https://github.com/ros-planning/navigation/issues/769>`_)
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* add tf2_geometry_msgs depend to costmap_2d
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* Contributors: Michael Ferguson
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1.16.0 (2018-07-25)
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-------------------
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* Switch to TF2 `#755 <https://github.com/ros-planning/navigation/issues/755>`_
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* unify combination_method dynamic reconfig, closes `#402 <https://github.com/ros-planning/navigation/issues/402>`_
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* Merge pull request `#723 <https://github.com/ros-planning/navigation/issues/723>`_ from moriarty/melodic-buildfarm-errors
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Melodic buildfarm errors
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* [costmap_2d/test] set empty transform to Identity
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* fix test: abs(unsigned int) is ambiguous
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Instead, compare values and subtract smaller from larger to find
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the dx and dy.
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* fixes pluginlib deprecated header warnings
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* Merge pull request `#694 <https://github.com/ros-planning/navigation/issues/694>`_ from ros-planning/lunar_691
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costmap variable init & cleanup (forward port of `#691 <https://github.com/ros-planning/navigation/issues/691>`_)
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* remove unused got_footprint\_
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* initialize all costmap variables
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* Merge pull request `#686 <https://github.com/ros-planning/navigation/issues/686>`_ from ros-planning/lunar_675
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Fixed race condition with costmaps in LayeredCostmap::resizeMap()
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* Fixed race condition with costmaps in LayeredCostmap::resizeMap()
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LayeredCostmap::updateMap() and LayeredCostmap::resizeMap() write to the master grid costmap.
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And these two functions can be called by different threads at the same time.
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One example of these cases is a race condition between subscriber callback thread
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dealing with dynamically-size-changing static_layer and periodical updateMap() calls from Costmap2DROS thread.
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Under the situation the master grid costmap is not thread-safe.
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LayeredCostmap::updateMap() already used the master grid costmap's lock.
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* Contributors: Alexander Moriarty, David V. Lu, Jaeyoung Lee, Michael Ferguson, Vincent Rabaud
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1.15.2 (2018-03-22)
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-------------------
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* Merge pull request `#673 <https://github.com/ros-planning/navigation/issues/673>`_ from ros-planning/email_update_lunar
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update maintainer email (lunar)
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* Merge pull request `#670 <https://github.com/ros-planning/navigation/issues/670>`_ from DLu/fix206_lunar
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Fixes `#206 <https://github.com/ros-planning/navigation/issues/206>`_ for Lunar
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* fix 'enable' for static_layer with rolling window (`#659 <https://github.com/ros-planning/navigation/issues/659>`_) (`#665 <https://github.com/ros-planning/navigation/issues/665>`_)
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* Merge pull request `#649 <https://github.com/ros-planning/navigation/issues/649>`_ from aaronhoy/lunar_add_ahoy
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Add myself as a maintainer.
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* Contributors: Aaron Hoy, David V. Lu!!, Jannik Abbenseth, Michael Ferguson
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1.15.1 (2017-08-14)
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-------------------
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1.15.0 (2017-08-07)
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-------------------
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* Added parameter for allowing inflation in unknown cells (`#564 <https://github.com/ros-planning/navigation/issues/564>`_)
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* Inflation Layer protected members and virtual computeCost [ABI BREAKING]
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* Fix for `#517 <https://github.com/ros-planning/navigation/issues/517>`_: create a getRobotPose method on move_base instead of using that on the costmaps
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* don't update costs if inflation radius is zero
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* rebase fixups
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* convert packages to format2
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* Speedup (~60%) inflation layer update (`#525 <https://github.com/ros-planning/navigation/issues/525>`_)
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* Fix CMakeLists + package.xmls (`#548 <https://github.com/ros-planning/navigation/issues/548>`_)
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* add missing deps on libpcl
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* import only PCL common
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* pcl proagate -lQt5::Widgets flag so we need to find_package Qt5Widgets (`#578 <https://github.com/ros-planning/navigation/issues/578>`_)
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* Added deps to amcl costmap_2d move_base (`#512 <https://github.com/ros-planning/navigation/issues/512>`_)
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* remove GCC warnings
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* Fix CMake warnings
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* renamed targets for message generation (gencpp -> generate_messages_cpp) in order to avoid warnings for non-existing target dependencies
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* Fixed race condition with costmaps
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* Merge pull request `#491 <https://github.com/ros-planning/navigation/issues/491>`_ from alexhenning/kinetic-inflation-fix
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* Fixed sign error in inflation layer
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* Adds warning when a layer shrinks the bounds
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* Fixed bug with inflation layer that caused underinflation
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* Fixed bug with artifacts when not current
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* Fix bug with inflation artifacts being left behind
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* Fixes issue with costmaps shearing
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* Made costmap publishing truly lazy
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* Contributors: Alex Henning, Alexander Reimann, Hidde Wieringa, Jorge Santos, Jorge Santos Simón, Martin Günther, Michael Ferguson, Mikael Arguedas, Stephan Opfer, Vincent Rabaud, mryellow
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1.14.0 (2016-05-20)
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-------------------
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* Reordered initializer list to match order of declarations.
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This avoids compiler warning with some compilers.
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* Made update map threadsafe
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This is necessary for some plugins (e.g. VoxelLayer) that implement a
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thread unsafe updateBounds() function.
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* Fix bug with resetting static layer
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If we don't have a new topic, consider our old data as if it were new.
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* fix resource locations to fix tests
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* Increase time-limit on failing test
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* Merge pull request `#388 <https://github.com/ros-planning/navigation/issues/388>`_ from yujinrobot/jade_inflation_ghost_fix
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No more ghosts in the inflation layer
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* Fixes the dynamic reconfigure segfault
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Doing a dynamic reconfigure of the inflation radius recreates
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the cached cost values without first locking a mutex, which causes
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a segfault. This breaks the reconfigure of inflation parameters into
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a separate function and adds a mutex lock.
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* Merge pull request `#415 <https://github.com/ros-planning/navigation/issues/415>`_ from alexhenning/jade-fix-multiple-static-layers
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Fixes an issue with having multiple static layers
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* Fixes an issue with having multiple static layers
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If you have a static layer in both the local and global costmaps that
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use the same map topic, there is a race condition that can cause the
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static layer to get stuck after printing `Requesting map....`. This race
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condition seems to be due to the call to shutdown in deactivate and how
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the NodeHandle handles multiple subscribers under the hood.
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This issue appears to happen about 1 in 1000 times in the setup I was
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testing. This fix has never failed in over 1000000 tests. Instead of
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calling activate and deactivate, the publisher is only recreated if the
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topic has changed. Otherwise, it reuses the old setup.
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* fix related to issue `#408 <https://github.com/ros-planning/navigation/issues/408>`_ - With Rolling Window on, costmap_2d not properly updating bounds and costs in the static layer
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* No more ghosts in the inflation layer
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Previous bounds would fit the sensor measurements, and the inflation layer would clear
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out to these, but leave 'ghosts' behind. These ghosts are from two sources - 1) the
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inflation radius and 2) whole obstacles left behind as the robot has moved from the last point.
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The modifications here remember the last bounds and set the new bounds so that a box at least
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large enough to incorporate the old bounds plus the inflation radius is generated.
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* Contributors: Alex Henning, Daniel Stonier, Levon Avagyan, Michael Ferguson, palmieri
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1.13.1 (2015-10-29)
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-------------------
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* Remove excessive canTransform spam.
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* Fix for `#382 <https://github.com/ros-planning/navigation/issues/382>`_
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* Republish costmap if origin changes
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* Remove Footprint Layer
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* Remove extra sign definition and use proper one when padding footprint
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* fix plugin warnings on throw, closes `#205 <https://github.com/ros-planning/navigation/issues/205>`_
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* initialize publisher variables
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* Look for robot_radius when footprint is not set. `#206 <https://github.com/ros-planning/navigation/issues/206>`_
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* Add a first_map_only parameter so we keep reusing the first received static map
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* Merge pull request `#331 <https://github.com/ros-planning/navigation/issues/331>`_ from mikeferguson/static_layer_any_frame
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* support rolling static map in any frame
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* fix destructor of Costmap2D
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* proper locking during costmap update
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* do not resize static map when rolling
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* Static layer works with rolling window now
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* Contributors: Daniel Stonier, David Lu, Jihoon Lee, Michael Ferguson, Rein Appeldoorn, commaster90
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1.13.0 (2015-03-17)
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-------------------
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* fixed issue with voxel_layer and obstacle_layer both deleting the same dynamic_reconfigure::Server and causing segfaults
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* Fixing various memory freeing operations
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* static_layer: Fix indexing error in OccupancyGridUpdate callback function.
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* Contributors: Alex Bencz, David V. Lu!!, James Servos, Julse, Kaijen Hsiao
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1.12.0 (2015-02-04)
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-------------------
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* update maintainer email
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* Contributors: Michael Ferguson
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1.11.15 (2015-02-03)
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--------------------
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* Add ARCHIVE_DESTINATION for static builds
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* Contributors: Gary Servin
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1.11.14 (2014-12-05)
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--------------------
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* added waitForTransform to bufferCloud to solve extrapolation into the future exception
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* deallocate costmap_ before reallocating
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* prevent div by zero in raytraceLine
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* only prefix sensor_frame when it's not empty
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* tf_prefix support in obstacle_layer
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* remove undefined function updateUsingPlugins
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* remove unused cell_data.h
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* numerous style fixes
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* Contributors: Andrzej Pronobis, David Lu, Jeremie Deray, Mani Monajjemi, Michael Ferguson, enriquefernandez
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1.11.13 (2014-10-02)
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--------------------
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1.11.12 (2014-10-01)
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--------------------
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* costmap_2d: export library layers
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* Merge pull request `#198 <https://github.com/ros-planning/navigation/issues/198>`_ from kmhallen/hydro-devel
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Fixed costmap_2d clearing from service /move_base/clear_costmaps
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* Costmap Layer comments
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* Add destructors for all of the layers to remove the dynamic parameter clients
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* Add method for removing static observations (for testing)
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* Move testing_helper
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* Initial Clearing Costmap parameter change
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* Fixed costmap_2d clearing from service /move_base/clear_costmaps
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* Contributors: David Lu!!, Kevin Hallenbeck, Michael Ferguson
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1.11.11 (2014-07-23)
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--------------------
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* removes trailing spaces and empty lines
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* Contributors: Enrique Fernández Perdomo
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1.11.10 (2014-06-25)
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--------------------
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* Remove unnecessary colons
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* Remove unused robot_radius parameter from dynamic_reconfigure
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* Contributors: Daniel Stonier, David Lu!!
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1.11.9 (2014-06-10)
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-------------------
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* fix hypot issues, add comments to tests from tracking this down
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* dynamically reconfigure the previously uninitialised variable 'combination_method', closes `#187 <https://github.com/ros-planning/navigation/issues/187>`_.
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* uses ::hypot(x, y) instead of sqrt(x*x, y*y)
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* Contributors: Daniel Stonier, Michael Ferguson, Enrique Fernández Perdomo
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1.11.8 (2014-05-21)
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-------------------
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1.11.7 (2014-05-21)
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-------------------
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* uses %u instead of %d for unsigned int
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* update build to find eigen using cmake_modules
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* inflation_layer: place .top() & .pop() calls together
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* add parameter to configure whether full costmap is published each time
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* Contributors: Michael Ferguson, Siegfried-A. Gevatter Pujals, agentx3r, enriquefernandez
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1.11.5 (2014-01-30)
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-------------------
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* Better threading in inflation layer
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* don't set initialized until updateMap is called
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* check whether costmap is initalized before publishing
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* New Overwrite Methods
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updateMap method
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Fix for `#68 <https://github.com/ros-planning/navigation/issues/68>`_
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Fix for inflation memory problems
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InfIsValid `#128 <https://github.com/ros-planning/navigation/issues/128>`_
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Static layer can recieve updates and accept non-lethal values
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Obstacle layer uses track_unknown_space parameter
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Footprint layer is not longer created as top-level layer (used as part of obstacle layer instead)
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* Download test data from download.ros.org instead of willow
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* Change maintainer from Hersh to Lu
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1.11.4 (2013-09-27)
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-------------------
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* Improve bounds checking
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* Reimplement Clear Costmaps Service by implementing reset functions in each layer
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* Package URL Updates
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* Additional static layer functionality for receiving updates
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* Misc. Pointcloud fixes
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* Improved eigen alignment problem on 32-bit arch.
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* fixed costmap_2d tests
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