Galactic sync 1 : All commits before May 24 (#2363)

SteveMacenski · charlielito · web-flow · commit 4b3391ee0199 · 2021-05-24T14:14:16.000-07:00
* reset all goal checkers on cleanup state (#2354) * Fix map_saver_cli arguments not parsed well (#2362) Fixes #2358 * bumping to 1.0.2 for re-release with updates Co-authored-by: Carlos Andrés Álvarez Restrepo <charlie_cha@outlook.com>
diff --git a/nav2_amcl/package.xml b/nav2_amcl/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_amcl</name>
-  <version>1.0.1</version>
+  <version>1.0.2</version>
   <description>
     <p>
       amcl is a probabilistic localization system for a robot moving in
diff --git a/nav2_behavior_tree/package.xml b/nav2_behavior_tree/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_behavior_tree</name>
-  <version>1.0.1</version>
+  <version>1.0.2</version>
   <description>TODO</description>
   <maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
   <maintainer email="carlos.a.orduno@intel.com">Carlos Orduno</maintainer>
diff --git a/nav2_bringup/bringup/package.xml b/nav2_bringup/bringup/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_bringup</name>
-  <version>1.0.1</version>
+  <version>1.0.2</version>
   <description>Bringup scripts and configurations for the Nav2 stack</description>
   <maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
   <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
diff --git a/nav2_bringup/nav2_gazebo_spawner/package.xml b/nav2_bringup/nav2_gazebo_spawner/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_gazebo_spawner</name>
-  <version>1.0.1</version>
+  <version>1.0.2</version>
   <description>Package for spawning a robot model into Gazebo for Nav2</description>
   <maintainer email="carlos.orduno@intel.com">lkumarbe</maintainer>
   <maintainer email="lalit.kumar.begani@intel.com">lkumarbe</maintainer>
diff --git a/nav2_bt_navigator/package.xml b/nav2_bt_navigator/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_bt_navigator</name>
-  <version>1.0.1</version>
+  <version>1.0.2</version>
   <description>TODO</description>
   <maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
   <license>Apache-2.0</license>
diff --git a/nav2_common/package.xml b/nav2_common/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_common</name>
-  <version>1.0.1</version>
+  <version>1.0.2</version>
   <description>Common support functionality used throughout the navigation 2 stack</description>
   <maintainer email="carl.r.delsey@intel.com">Carl Delsey</maintainer>
   <license>Apache-2.0</license>
diff --git a/nav2_controller/package.xml b/nav2_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_controller</name>
-  <version>1.0.1</version>
+  <version>1.0.2</version>
   <description>Controller action interface</description>
   <maintainer email="carl.r.delsey@intel.com">Carl Delsey</maintainer>
   <license>Apache-2.0</license>
diff --git a/nav2_controller/src/nav2_controller.cpp b/nav2_controller/src/nav2_controller.cpp
@@ -256,6 +256,8 @@ ControllerServer::on_cleanup(const rclcpp_lifecycle::State & state)
     it->second->cleanup();
   }
   controllers_.clear();
+
+  goal_checkers_.clear();
   costmap_ros_->on_cleanup(state);
 
   // Release any allocated resources
@@ -264,7 +266,6 @@ ControllerServer::on_cleanup(const rclcpp_lifecycle::State & state)
   vel_publisher_.reset();
   speed_limit_sub_.reset();
   action_server_.reset();
-  goal_checkers_[current_goal_checker_]->reset();
 
   return nav2_util::CallbackReturn::SUCCESS;
 }
diff --git a/nav2_core/package.xml b/nav2_core/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_core</name>
-  <version>1.0.1</version>
+  <version>1.0.2</version>
   <description>A set of headers for plugins core to the Nav2 stack</description>
   <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
   <maintainer email="carl.r.delsey@intel.com">Carl Delsey</maintainer>
diff --git a/nav2_costmap_2d/package.xml b/nav2_costmap_2d/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format ="3">
   <name>nav2_costmap_2d</name>
-  <version>1.0.1</version>
+  <version>1.0.2</version>
   <description>
     This package provides an implementation of a 2D costmap that takes in sensor
     data from the world, builds a 2D or 3D occupancy grid of the data (depending
diff --git a/nav2_dwb_controller/costmap_queue/package.xml b/nav2_dwb_controller/costmap_queue/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>costmap_queue</name>
-  <version>1.0.1</version>
+  <version>1.0.2</version>
   <description>The costmap_queue package</description>
   <maintainer email="davidvlu@gmail.com">David V. Lu!!</maintainer>
   <license>BSD-3-Clause</license>
diff --git a/nav2_dwb_controller/dwb_core/package.xml b/nav2_dwb_controller/dwb_core/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>dwb_core</name>
-  <version>1.0.1</version>
+  <version>1.0.2</version>
   <description>TODO</description>
   <maintainer email="carl.r.delsey@intel.com">Carl Delsey</maintainer>
   <license>BSD-3-Clause</license>
diff --git a/nav2_dwb_controller/dwb_critics/package.xml b/nav2_dwb_controller/dwb_critics/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>dwb_critics</name>
-  <version>1.0.1</version>
+  <version>1.0.2</version>
   <description>The dwb_critics package</description>
   <maintainer email="davidvlu@gmail.com">David V. Lu!!</maintainer>
   <license>BSD-3-Clause</license>
diff --git a/nav2_dwb_controller/dwb_msgs/package.xml b/nav2_dwb_controller/dwb_msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>dwb_msgs</name>
-  <version>1.0.1</version>
+  <version>1.0.2</version>
   <description>Message/Service definitions specifically for the dwb_core</description>
   <maintainer email="davidvlu@gmail.com">David V. Lu!!</maintainer>
   <license>BSD-3-Clause</license>
diff --git a/nav2_dwb_controller/dwb_plugins/package.xml b/nav2_dwb_controller/dwb_plugins/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>dwb_plugins</name>
-  <version>1.0.1</version>
+  <version>1.0.2</version>
   <description>
       Standard implementations of the GoalChecker
       and TrajectoryGenerators for dwb_core
diff --git a/nav2_dwb_controller/nav2_dwb_controller/package.xml b/nav2_dwb_controller/nav2_dwb_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_dwb_controller</name>
-  <version>1.0.1</version>
+  <version>1.0.2</version>
   <description>
     ROS2 controller (DWB) metapackage
   </description>
diff --git a/nav2_dwb_controller/nav_2d_msgs/package.xml b/nav2_dwb_controller/nav_2d_msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav_2d_msgs</name>
-  <version>1.0.1</version>
+  <version>1.0.2</version>
   <description>Basic message types for two dimensional navigation, extending from geometry_msgs::Pose2D.</description>
   <maintainer email="davidvlu@gmail.com">David V. Lu!!</maintainer>
   <license>BSD-3-Clause</license>
diff --git a/nav2_dwb_controller/nav_2d_utils/package.xml b/nav2_dwb_controller/nav_2d_utils/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav_2d_utils</name>
-  <version>1.0.1</version>
+  <version>1.0.2</version>
   <description>A handful of useful utility functions for nav_2d packages.</description>
   <maintainer email="davidvlu@gmail.com">David V. Lu!!</maintainer>
   <license>BSD-3-Clause</license>
diff --git a/nav2_lifecycle_manager/package.xml b/nav2_lifecycle_manager/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_lifecycle_manager</name>
-  <version>1.0.1</version>
+  <version>1.0.2</version>
   <description>A controller/manager for the lifecycle nodes of the Navigation 2 system</description>
   <maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
   <license>Apache-2.0</license>
diff --git a/nav2_map_server/package.xml b/nav2_map_server/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_map_server</name>
-  <version>1.0.1</version>
+  <version>1.0.2</version>
   <description>
     Refactored map server for ROS2 Navigation
   </description>
diff --git a/nav2_map_server/src/map_saver/main_cli.cpp b/nav2_map_server/src/map_saver/main_cli.cpp
@@ -108,10 +108,10 @@ ARGUMENTS_STATUS parse_arguments(
             save_parameters.map_file_name = *it;
             break;
           case COMMAND_FREE_THRESH:
-            save_parameters.free_thresh = atoi(it->c_str());
+            save_parameters.free_thresh = atof(it->c_str());
             break;
           case COMMAND_OCCUPIED_THRESH:
-            save_parameters.occupied_thresh = atoi(it->c_str());
+            save_parameters.occupied_thresh = atof(it->c_str());
             break;
           case COMMAND_IMAGE_FORMAT:
             save_parameters.image_format = *it;
diff --git a/nav2_msgs/package.xml b/nav2_msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_msgs</name>
-  <version>1.0.1</version>
+  <version>1.0.2</version>
   <description>Messages and service files for the Nav2 stack</description>
   <maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
   <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
diff --git a/nav2_navfn_planner/package.xml b/nav2_navfn_planner/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_navfn_planner</name>
-  <version>1.0.1</version>
+  <version>1.0.2</version>
   <description>TODO</description>
   <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
   <maintainer email="carlos.a.orduno@intel.com">Carlos Orduno</maintainer>
diff --git a/nav2_planner/package.xml b/nav2_planner/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_planner</name>
-  <version>1.0.1</version>
+  <version>1.0.2</version>
   <description>TODO</description>
   <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
   <license>Apache-2.0</license>
diff --git a/nav2_recoveries/package.xml b/nav2_recoveries/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_recoveries</name>
-  <version>1.0.1</version>
+  <version>1.0.2</version>
   <description>TODO</description>
   <maintainer email="carlos.a.orduno@intel.com">Carlos Orduno</maintainer>
   <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
diff --git a/nav2_regulated_pure_pursuit_controller/package.xml b/nav2_regulated_pure_pursuit_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_regulated_pure_pursuit_controller</name>
-  <version>1.0.1</version>
+  <version>1.0.2</version>
   <description>Regulated Pure Pursuit Controller</description>
   <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
   <maintainer email="shrijitsingh99@gmail.com">Shrijit Singh</maintainer>
diff --git a/nav2_rviz_plugins/package.xml b/nav2_rviz_plugins/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_rviz_plugins</name>
-  <version>1.0.1</version>
+  <version>1.0.2</version>
   <description>Navigation 2 plugins for rviz</description>
   <maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
   <license>Apache-2.0</license>
diff --git a/nav2_smac_planner/package.xml b/nav2_smac_planner/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_smac_planner</name>
-  <version>1.0.1</version>
+  <version>1.0.2</version>
   <description>Smac global planning plugin</description>
   <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
   <license>Apache-2.0</license>
diff --git a/nav2_system_tests/package.xml b/nav2_system_tests/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_system_tests</name>
-  <version>1.0.1</version>
+  <version>1.0.2</version>
   <description>TODO</description>
   <maintainer email="carlos.a.orduno@intel.com">Carlos Orduno</maintainer>
   <license>Apache-2.0</license>
diff --git a/nav2_util/package.xml b/nav2_util/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_util</name>
-  <version>1.0.1</version>
+  <version>1.0.2</version>
   <description>TODO</description>
   <maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
   <maintainer email="mohammad.haghighipanah@intel.com">Mohammad Haghighipanah</maintainer>
diff --git a/nav2_voxel_grid/package.xml b/nav2_voxel_grid/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_voxel_grid</name>
-  <version>1.0.1</version>
+  <version>1.0.2</version>
   <description>
       voxel_grid provides an implementation of an efficient 3D voxel grid. The occupancy grid can support 3 different representations for the state of a cell: marked, free, or unknown. Due to the underlying implementation relying on bitwise and and or integer operations, the voxel grid only supports 16 different levels per voxel column. However, this limitation yields raytracing and cell marking performance in the grid comparable to standard 2D structures making it quite fast compared to most 3D structures.
   </description>
diff --git a/nav2_waypoint_follower/package.xml b/nav2_waypoint_follower/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_waypoint_follower</name>
-  <version>1.0.1</version>
+  <version>1.0.2</version>
   <description>A waypoint follower navigation server</description>
   <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
   <license>Apache-2.0</license>
diff --git a/navigation2/package.xml b/navigation2/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>navigation2</name>
-  <version>1.0.1</version>
+  <version>1.0.2</version>
   <description>
     ROS2 Navigation Stack
   </description>

Original file line number	Diff line number	Diff line change
`@@ -256,6 +256,8 @@ ControllerServer::on_cleanup(const rclcpp_lifecycle::State & state)`
`256`	`256`	`it->second->cleanup();`
`257`	`257`	`}`
`258`	`258`	`controllers_.clear();`
	`259`	`+`
	`260`	`+ goal_checkers_.clear();`
`259`	`261`	`costmap_ros_->on_cleanup(state);`
`260`	`262`
`261`	`263`	`// Release any allocated resources`
`@@ -264,7 +266,6 @@ ControllerServer::on_cleanup(const rclcpp_lifecycle::State & state)`
`264`	`266`	`vel_publisher_.reset();`
`265`	`267`	`speed_limit_sub_.reset();`
`266`	`268`	`action_server_.reset();`
`267`		`- goal_checkers_[current_goal_checker_]->reset();`
`268`	`269`
`269`	`270`	`return nav2_util::CallbackReturn::SUCCESS;`
`270`	`271`	`}`