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topological_navigation package from topological_navigation repo

topological_navigation topological_navigation_msgs topological_rviz_tools topological_utils

Package Summary

Tags	No category tags.
Version	3.0.5
License	Apache License 2.0
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/lcas/topological_navigation.git
VCS Type	git
VCS Version	humble-dev
Last Updated	2025-02-21
Dev Status	UNMAINTAINED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The ros2 topological_navigation package

Additional Links

No additional links.

Maintainers

Marc Hanheide
James R Heselden

Authors

Jaime Pulido Fentanes
Adam Binch
Francesco Del Duchetto

topological_navigation/README.md

These instructions are intended for the legacy branch of topological navigation. Instructions for the master branch (topological navigation 2) are to do.

This node provides support for topological navigation in the STRANDS system.

This module requires:

move_base
strands_datacentre
monitored_navigation

You will also need to create a topological map

Once your map is inserted in the DB you can launch your topological navigation nodes using: roslaunch topological_navigation topological_navigation.launch map:=topological_map_name node_by_node:=false

note: When Node by node navigation is active the robot will cancel the topological navigation when it reaches the influence zone of a node and it will navigate to its waypoint aborting the action.

note: Statistics are being recorded in the nav_stats collection within the autonomous_patrolling

note: every action server for the actions stored in the topological map have to be running, for example if the ramp_climb action is required you will need the ramp_climb server running, you can run it using: rosrun ramp_climb ramp_climb

Navigate

You can test the topological navigation using: rosrun topological_navigation nav_client.py Destination Where destination is the name of the node you want to reach.
You can also run RViz rosrun rviz rviz and subscribe to the interactive markers /name_of_map_go_to/update and clicking on the Green Arrows to move the robot around.

#Create Topological Maps

There are different ways of creating topological maps:

*. [Using Localise by Topic] (#Using-Localise-by-Topic)

Simultaneous Metric and Topological Mapping

@To improve

To follow this process you will need to place the robot in the Charging station and reset the odometry, once it is there you can launch the mapping by running:

roslaunch topological_utils mapping.launch met_map:='name_of_metric_map' top_map:='name_of_topological_map'

Once this is done undock the robot using the Visual_charging_server.

When the robot is undocked you can move it around using the gamepad and when you wish to create a new topological node press button ‘B’ once you are done save your metric map by pressing ‘A’.

To edit the topological map you can use the following methods

Creation of the Topological map From WayPoint File

(Modified) The first step is to create the waypoint file by running: rosrun topological_utils joy_add_waypoint.py name_of_the_waypoint_file.csv
Next create a topological map file from the waypoint file using: rosrun topological_utils tmap_from_waypoints.py input_file.csv output_file.tmap this will create a topological tree on which every waypoint in the file is a node and each waypoint is connected to every other waypoint using move_base and an octagonal influence area, for example,

From a normal waypoint file like this:

  -2.3003,0.120533,-4.88295e-05,0,0,-0.0530802,0.99859
  -7.95369,-3.03503,-4.4791e-05,0,0,0.928319,-0.371784
  -8.91935,2.94528,0.00139425,0,0,0.473654,0.880711
  -2.68708,-2.23003,-0.000478224,0,0,-0.759842,0.650108

It will create a topological map file like this:

  node: 
  	ChargingPoint
  	waypoint:
  		-2.3003,0.120533,-4.88295e-05,0,0,-0.0530802,0.99859
  	edges:
  		WayPoint1, move_base
  		WayPoint2, move_base
  		WayPoint3, move_base
  	vertices:
        1.380000,0.574000
        0.574000,1.380000
        -0.574000,1.380000
        -1.380000,0.574000
        -1.380000,-0.574000
        -0.574000,-1.380000
        0.574000,-1.380000
        1.380000,-0.574000
  node: 
  	WayPoint1
  	waypoint:
  		-7.95369,-3.03503,-4.4791e-05,0,0,0.928319,-0.371784
  	edges:
  		ChargingPoint, move_base
  		WayPoint2, move_base
  		WayPoint3, move_base
  	vertices:
        1.380000,0.574000
        0.574000,1.380000
        -0.574000,1.380000
        -1.380000,0.574000
        -1.380000,-0.574000
        -0.574000,-1.380000
        0.574000,-1.380000
        1.380000,-0.574000
  node: 
  	WayPoint2
  	waypoint:
  		-8.91935,2.94528,0.00139425,0,0,0.473654,0.880711
  	edges:
  		ChargingPoint, move_base
  		WayPoint1, move_base
  		WayPoint3, move_base
  	vertices:
        1.380000,0.574000
        0.574000,1.380000
        -0.574000,1.380000
        -1.380000,0.574000
        -1.380000,-0.574000
        -0.574000,-1.380000
        0.574000,-1.380000
        1.380000,-0.574000
  node: 
  	WayPoint3
  	waypoint:
  		-2.68708,-2.23003,-0.000478224,0,0,-0.759842,0.650108
  	edges:
  		ChargingPoint, move_base
  		WayPoint1, move_base
  		WayPoint2, move_base
  	vertices:
        1.380000,0.574000
        0.574000,1.380000
        -0.574000,1.380000
        -1.380000,0.574000
        -1.380000,-0.574000
        -0.574000,-1.380000
        0.574000,-1.380000
        1.380000,-0.574000

Editing the topological map, lets say that you want to make sure that to reach a node you get there using a specific action like ramp_climb from another node then you will need to edit the topological map file. You can also edit the vertices of the influence area so it can be defined using different kinds of polygons. For example, lets suppose that in the previous map you want WayPoint3 to be reached only from the Waypoint1 using ramp_climb and that you want to define rectangular areas around your waypoints and a triangular area around the ChargingPoint, in such case your map file should look like this:

  node: 
  	ChargingPoint
  	waypoint:
  		-2.3003,0.120533,-4.88295e-05,0,0,-0.0530802,0.99859
  	edges:
  		 WayPoint1, move_base
  		 WayPoint2, move_base
  	vertices:
        0.0,1.5
        -1.5,-1.5
        1.5,-1.5
  node: 
  	WayPoint1
  	waypoint:
  		-7.95369,-3.03503,-4.4791e-05,0,0,0.928319,-0.371784
  	edges:
  		ChargingPoint, move_base
  		WayPoint2, move_base
  		WayPoint3, ramp_climb
  	vertices:
        1.380000,0.574000
        -1.380000,0.574000
        -1.380000,-0.574000
        1.380000,-0.574000
  node: 
  	WayPoint2
  	waypoint:
  		-8.91935,2.94528,0.00139425,0,0,0.473654,0.880711
  	edges:
  		ChargingPoint, move_base
  		WayPoint1, move_base
  	vertices:
        0.574000,1.380000
        -0.574000,1.380000
        -0.574000,-1.380000
        0.574000,-1.380000
  node: 
  	WayPoint3
  	waypoint:
  		-2.68708,-2.23003,-0.000478224,0,0,-0.759842,0.650108
  	edges:
  		WayPoint1, ramp_climb
  	vertices:
        1.5,1.5
        -1.5,1.5
        -1.5,-1.5
        1.5,-1.5

In this case the topological navigation node will always call ramp_climb when reaching or leaving WayPoint3, you can also edit the names of the nodes to fit your needs. note: At the moment only move_base and ramp_climb can be included. note: The polygons of the influence area will be created using the convex-hull approach so they may not correspond exactly to the vertices previously defined.

Once you are happy with your topological map you have to insert it in the strands_datacentre using: rosrun topological_utils insert_map.py topological_map.tmap topological_map_name map_name

Using RViz

RViz can be used to edit topological maps on system runtime, however there is also the possibility of inserting a basic topological map and editing it using RViz. The Following steps will guide through this process.

It is necessary to insert a basic map in the DB and run the topological system based on it for this a launch file is provided and it can be used in the following way:

Launch 2d navigation using for example: roslaunch strands_movebase movebase.launch map:=/path/to/your/map.yaml with_chest_xtion:=false
Launch empty topological map: roslaunch topological_navigation topological_navigation_empty_map.launch map:='name_of_topological_map'

This will create a basic map and run the topological system with it.

Once this is done you can run Rviz, rosrun rviz rviz and create two marker array interfaces /topological_node_zones_array and /topological_edges_array optionally an additional marker array interface can be created /topological_nodes_array. This will allow the visualization of the topological map.
After this the map can be edited using interactive markers:

Adding Nodes: for this objective there is one interactive marker topic called /name_of_your_map/add_rm_node/update that will put a green box on top of the robot. Drive the robot where you want to add a new node and press on the green box that will add a node there connected to all close by nodes by a move_base action.
Editing Node Position: with /name_of_your_map_markers/update it is possible to move the waypoints around and change their final goal orientation.
Removing Unnecessary Edges: to remove edges there is another marker /name_of_your_map_edges/update that will allow you to remove edges by pressing on the red arrows.
Change the Influence Zones: Finally it is possible to change the influence zones with /name_of_your_map_zones/update and moving the vertices of such zones around.

Using Gamepad

This method is basically the same as the previous method (follow steps 1 and 2, also 3 if/when needed) with the addition that in this case it is possible to add nodes at the current robot position by pressing button ‘B’ on the Gamepad.

Edit using MongoDB Client

@TODO

Using Localise by Topic

Localise by topic is a JSON string defined in the topological map which is empty by default "localise_by_topic" : "" which means that the robot will use its pose to obtained its location on the topological map.

However in some specific cases it might be necessary to localise the robot by means of an specific topic in this cases the localise by topic string should be defined with the following mandatory fields

topic: the name of the topic that will be used for localisation
field: the field of the topic that will be compared
val: the value of field that will be used to set the current node (/current_node)

A typical localise by topic string will look like this:

"{"topic":"battery_state","field":"charging","val":true}"

There are also some optional fields that can be set:

localise_anywhere: (default value true) If set to true topological localisation will assume the robot to be at the node whenever localisation by topic corresponds to the values on the string, else this will only happen when the robot is in the influence area of the specific node.
persistency: (default value 10) is number of consecutive messages with the correct value that must arrive before localisation by topic is determined
timeout: @todo
Please note: when localised by topic is active the robot will never assume this node to be closest node unless it is also current node

CHANGELOG

Changelog for package topological_navigation

3.0.5 (2024-01-15)

3.0.4 (2023-12-06)

Merge pull request #176 from GPrathap/humble-dev adding server config for each action
adding server config for each action
Merge pull request #172 from GPrathap/humble-dev extending the functionality of bt trees to all action types
Merge branch 'humble-dev' of github.com:LCAS/topological_navigation into humble-dev
adding default config files
extending the functionality of bt trees to all action types
Contributors: GPrathap, James Heselden

3.0.3 (2023-11-24)

3.0.2 (2023-11-24)

Merge pull request #174 from Iranaphor/humble-dev-dependencies removal of pip dependency
removal of pip dependency
Contributors: James R Heselden, Marc Hanheide

3.0.1 (2023-11-23)

Merge pull request #171 from GPrathap/humble-dev adding different bt tree for row navigation
adding row_traversal action type
adding different bt tree for row navigation
Merge pull request #170 from GPrathap/humble-dev adding traverse through poses and updating rviz plugin
sending correct respond code
adding traverse through poses
Merge pull request #169 from GPrathap/humble-dev adding interactive marker server impl
updating qos level
adding interactive marker server impl
Merge pull request #167 from Iranaphor/humble-dev-visuals Scaling added to legend
scaling added to legend
adding rviz vis tools init
Merge pull request #166 from GPrathap/humble-dev adding simple policy server
Merge branch 'humble-dev' of github.com:GPrathap/topological_navigation into humble-dev
adding simple policy server
Merge pull request #165 from GPrathap/humble-dev Adding the following core functionalities
Forgot another launch_pytest to fix
Corrected launch_pytest key
adding test dependency
adding testng dependency
adding integration test script for testing navigation core components
adding feedback messages
removing synchronous service call
code refactoring
adding policy action server
adding stopping goal action
changing action and action types
adding action server related changes
fixing localisation node
Merge pull request #164 from GPrathap/humble-dev fixing colcon build issue
fixing colcon build issue
Merge pull request #162 from Iranaphor/GoalMsg_Testing Development work toward a working ROS2 version
inclusion of topomap_marker2.py with functional rescaling
Merge pull request #161 from Iranaphor/humble-dev Topological map manager now working under ROS2
incorrect tab removed
updates to scalling for floats
topovis scaling included for larger map visualsing from a distance
topological transform publisher
topological map visualiser and policy mode visualisers updated to ros2
test script renamed to prevent crashing when using colcon test
map_manager_2 up and running
updates to fix imports when launching map_manager_2
Merge pull request #160 from Iranaphor/humble-dev ROS 2 / Humble - porting
python script building fix for topological_navigation
Centralising topological_navigation stack messages to msgs package. (+version number sync across packages to 3.0.0)
Updates to Maintainers and Authors
full build working for topological_utils
CMakeLists changes + restructuring for topological_utils
Compilation of message files and restructuring heirarchy for ros2 compatibility
initial work towards a working ros2 toponav
Merge pull request #156 from LCAS/python3_marc_greg Some Python3 and multi-robot fixes
another prefix bug relevant for multi-robot
fixed wrong prefix for closest_edges intialisation
Merge pull request #154 from adambinch/lcas Auto set goal when adding an edge to the topological map
Goal mapping config can be set as a param
Auto set goal when adding an edge to the topological map If a file e.g. thorvald_navigation_actions/config/inrownavGoal.yaml exists then the map manager will automatically set the goal of the action to the goal specified in that file, when the add edge function/service is called with arg action_type set to thorvald_navigation_actions/inrownavGoal. If that arg is not set or the file does not exist then a move base type goal is assumed.
Merge pull request #153 from adambinch/lcas Add visualise_map2.py as install target
Add visualise_map2.py as install target
Merge pull request #150 from gpdas/lcas exec policy mode fix
Merge pull request #149 from adambinch/lcas fix exec pol.
start exec policy from closest or current nodes only
fix exec pol
Merge pull request #147 from adambinch/lcas Wait for closest edges before creating action servers.
Wait for closest edges before creating action servers.
Merge pull request #146 from adambinch/lcas Option to disable anchors and aliases in generated topological map ya…
Option to disable anchors and aliases in generated topological map yaml file
Merge pull request #145 from adambinch/lcas Initialise class variable
Checks that closest edges are there in nav script. Also removed msg dependencies from cmakelists as all msgs are generated in topological_navigation_msgs
Initialise class variable
Merge pull request #142 from adambinch/exec_pol_nav_from_edge Navigating from the edge works with exec policy.
Navigating from the edge works with exec policy. Also topic [topological_navigation/move_action_status]{.title-ref} reports whether the goal of the current action is the final (toponav) goal (or not).
Merge pull request #141 from adambinch/remove_movebase_dep Removed move base as dependency
Removed move base as dependency tf is a run depend, not a test depend.
Removed move base as dependency tf is a run depend, not a test depend.
Merge pull request #140 from SAGARobotics/lcas Updating credentials
Merge pull request #9 from adambinch/lcas updating credentials
updating credentials
Merge pull request #139 from SAGARobotics/lcas Update LCAS branch with SAGA branch
Map manager unit test. One test which tests: 1) If the topomap is received by a subscriber. 2) That the [get_edges_between_nodes]{.title-ref} service is advertised. 3) Whether the service returns the 2 edges in the topomap.
map manager improvements
Additional edge reconfigure functionality. By default edge reconfigure resets the param back to its original value after the edge is traversed. This behaviour is now optional and can be disabled in the topological map edge config by setting [reset: false]{.title-ref} for a given param. Updated map manager services accordingly.
update
marker lifetime set to half hour
Fix no goto marker mode
fix
clear route markers for previous route
adding route visualisation
adding go to node markers and some visual improvements
toponav launch files use new map visualiser
Map Visualiser Based on toponav 2
update
update
Removing mongodb as a dependency. Removed from [topological_navigation]{.title-ref} and [topological_utils]{.title-ref} packages.
Merge pull request #136 from adambinch/melodic-devel New param [topological_navigation/move_base_goal]{.title-ref} sets the goal type …
update
update
update
minor change
New param [topological_navigation/move_base_goal]{.title-ref} sets the goal type of the default action [move_base_name]{.title-ref}. Defaults to standard move base goal type if not set. This will stop toponav breaking if the [move_base_name]{.title-ref} action does not use move base type goals. Also an improvement to the add/remove edge param srvs.
Merge pull request #135 from adambinch/melodic-devel Create action servers at end of initialisation.
Create action servers at end of initialisation.
Contributors: Adam Binch, GPrathap, Gautham P Das, Jaime Pulido Fentanes, James Heselden, James R Heselden, JamesH, Marc Hanheide, gpdas

2.4.0 (2022-01-25)

Merge pull request #134 from adambinch/melodic-devel Map manager uses multiprocessing to load topomaps to decrease RAM usage.
Minor changes
minor change
Using multiprocessing to yaml load topomap to decrease memory usage
Merge pull request #133 from adambinch/melodic-devel Map manager improvements
update
update
clear nodes srv
update
update
update
update
Adding new msg and srv files
update
fail policy replanning does not skip the first edge of the new plan.
update
Merge branch 'master' of https://github.com/LCAS/topological_navigation into melodic-devel
Merge pull request #132 from adambinch/load_with_json Load tmap2s with json to decrease RAM usage
update
update
update
update
update
new params namespaced
Separate srv for setting influence zone. Caching the map and auto saving after service calls are both optional via ros params.
Service /add_topological_node has option to add node vertices
Merge pull request #131 from adambinch/melodic-devel Fix in map manager 2 when initialising with empty map before switchin…
fix in map manager 2 when initialising with empty map before switching to another map
Merge pull request #130 from adambinch/melodic-devel Edge reconfigure when target and origin nodes are the same
Edge reconfigure when target and origin nodes are the same
Merge pull request #127 from adambinch/melodic-devel Fix
fixed
testing...
testing
Merge pull request #124 from adambinch/melodic-devel Toponav does not attempt to execute fail policy actions when it is sh…
Toponav does not attempt to execute fail policy actions when it is shutdown
Merge pull request #122 from Jailander/quickfix Removing outdated dependency
Removing outdated dependency
Merge pull request #121 from adambinch/melodic-devel Fixes toponav breaking when move base is not being used
minor change
update
Fixes toponav breaking when move base is not being used
Merge pull request #118 from adambinch/fix_dependencies Fixing dependencies.
restrictions manager moved from [src]{.title-ref} to [scripts]{.title-ref} and its install target added. navstats logger install target also added
fix
Fixing dependencies. [topological_map_edition.launch]{.title-ref} moved to [topological_utils]{.title-ref} package, which depends on [topological_rviz_tools]{.title-ref} package. [topological_navigation]{.title-ref} package depends on [topological_navigation_msgs]{.title-ref} package.
Merge pull request #117 from LCAS/noetic Basic navigation works in ros noetic but not all scripts are converted to python 3
python 3 compatible for most parts of toponav but not all!
Merge pull request #116 from adambinch/final_things A few final things.
A few final things. Set [advertise_srvs]{.title-ref} arg to False when initialising the map manager 2 allows other scripts/nodes to use its functions without advertising 20+ services. Descriptions of fail policy actions added to [UpdateFailPolicy.srv]{.title-ref}. Tidying.
Merge pull request #115 from francescodelduchetto/fail_policy_dirty working version of a "quick&dirty" implementation of the fail_policy
Merge pull request #6 from adambinch/fail_policy_dirty Reset fail policy when new goal sent
Reset fail policy when new goal sent
replan now avoids current edge rather than current next node
working version of a quick&dirty implementation of the fail_policy
Merge pull request #114 from adambinch/melodic-devel Corrected inaccurate description of the [not_fluid]{.title-ref} arg in [UpdateEdge.srv]{.title-ref}
minor changes
Minor changes
Merge pull request #111 from adambinch/remove_strands_dependencies Removing strands navigation dependencies from topological navigation.
Last minor changes
Merge branch 'remove_strands_dependencies' of github.com:adambinch/topological_navigation into remove_strands_dependencies
minor changes
Merge pull request #4 from francescodelduchetto/adambinch-remove_strands_dependencies fix old imports
fix old imports
minor change
minor changes
toponav dies (more) gracefully
Merge branch 'master' of github.com:LCAS/topological_navigation into remove_strands_dependencies
Merge pull request #113 from gpdas/fixes Mostly additive. Minor fixes
initialise quarternions in markers
update
strands dependencies removed from topological_rviz_tools
strands dependencies removed from [topological_navigation/topological_navigation]{.title-ref}
Merge branch 'master' of github.com:LCAS/topological_navigation into remove_strands_dependencies # Conflicts: # topological_navigation/src/topological_navigation/manager2.py # topological_navigation_msgs/CMakeLists.txt
Merge pull request #112 from adambinch/fail_policy_srvs Services for updating the fail policy.
Services for updating the fail policy. Service [/topological_map_manager2/update_edge]{.title-ref} now has field for updating the edge's fail policy. New service [/topological_map_manager2/update_fail_policy]{.title-ref} for updating the fail policy of every edge in the map.
Removing strands dependencies from topological navigation
Removing strands dependencies from topological navigation
Removing strands nav dependencies from navigation
Removing strands nav dependencies from navigation
improvements to prints and logs
Minor change
Publishers all started with [queue_size]{.title-ref} arg. Improved prints and logs.
Removed strands nav msgs from localisation
Merge branch 'master' of github.com:LCAS/topological_navigation into remove_strands_dependencies
Merge pull request #106 from francescodelduchetto/toponav2-restrictions-params removing publishing restricted map in service callback
Legacy map manager no longer dependent on strands nav msgs
Moving topomap msgs from strands nav to toponav repo. Map manager 2 is now strands independent.
Removing strands navigation dependencies from the Toponav repo.
Removing strands navigation dependencies from TopoNav. Copying srv definitions used by toponav from strands nav to the toponav repo.
Merge pull request #110 from adambinch/melodic-devel Navigation defaults to using edge reconfigure.
minor change
minor changes
toponav launch update
toponav launch runs restrictions manager.
Extension for new map is [.tmap2]{.title-ref}
Option to use restricted map in main toponav launch file.
Navigation defaults to using edge reconfigure.
Navigation defaults to using edge reconfigure.
Merge pull request #107 from adambinch/node_names Resolves Issue #90, Adds datum to the tmap meta, and other things.
Merge pull request #3 from francescodelduchetto/adambinch-node_names removing splitting underscore edges for retrieving nodes, using the n…
removing splitting underscore edges for retrieving nodes, using the new function
Merge branch 'master' of github.com:LCAS/topological_navigation into node_names
Merge pull request #109 from adambinch/faster_route_search Faster route planner.
possibly faster route search
Added launch file for running the restrictions manager for a multi robot scenario. Some improvements to prints/logs and tidying.
Some optimisation of the navigation script.
Can now pass properties of the edge's origin node to its goal args in the topological map using [+]{.title-ref} (similar to passing properties of the edge's destination node using [$]{.title-ref})
Service [/topological_map_manager2/update_edge]{.title-ref} replaces [/topological_map_manager2/update_edge_action]{.title-ref} setting the same args with an additional boolean arg for setting whether navigation is fluid or not. Uses srv type [topological_navigation_msgs.srv.UpdateEdge]{.title-ref}
Map manager service for adding GNSS latitude/longitude to the topological map's top-level meta info
removing publishing restricted map in service callback
Merge branch 'master' of github.com:LCAS/topological_navigation into node_names
Merge pull request #104 from francescodelduchetto/toponav2-restrictions-params restriction manager gets the out_topic for the restricted map and the config file as parameters
restriction manager gets the out_topic for the restricted map and the config file as parameters
Merge pull request #78 from francescodelduchetto/toponav2-restrictions Toponav2 restrictions
removing obsolete test script for restrictions
fix, from pull-request #5
Navigation can handle node names containing underscores
Map managers can handle node names containing underscores
optimise a bit more obstacleFree
making task and robot type restrictions faster
adding checks for the coordination config file to the restrictions
Merge pull request #4 from adambinch/toponav2-restrictions Nav script checks for availability of restriction services before att…
turn prints to rospy logs
Nav script checks for availability of restriction services before attempting to use them. Therefore toponav can run independently of the restrictions manager.
adding lost files after the merge; fix few changes
Merge branch 'master' of github.com:LCAS/topological_navigation into francescodelduchetto-toponav2-restrictions
remove satisfy_runtime_restrictions code and comment some prints
refine implementation of obstacleFree restriction with closest_node topic of robots; navigation script checks the runtime restrictions on nodes/edges before executing an action
Merge pull request #102 from adambinch/default_edge_reconf Edge reconfigure defaults to new method.
Edge reconfigure defaults to new method.
Merge pull request #101 from adambinch/new_topics New topics
small fix, parentesys missing
remove startOnNode restriction
adding fluid navigation flag in manager2
do not call runtime_restriction but rather use an ad-hoc flag for 'fluid_navigation' in the tmap
minor changes
minor change
Better prints and logs from nav script. Both action servers report terminal state aborted if the move action is aborted. Better default move base actions list in toponav launch file.
minor change
minor improvements.
Better prints/logs for go to node.
round published dist to closest node to 3dp
minor change
move action status topic now has std msg type String
Status of move action moved from go to node action definition to its own topic /topological_navigation/move_action_status. Msg definition is topological_navigation_msgs/MoveActionStatus
improvements
Status field of feedback converted to json string.
When move action is aborted the toponav feedback reports the route as the current node.
improvements
Status of current edge action reported as a string.
minor change
minor change
Status of the current action is reported in the feedback of the go-to-node action definition.
Distance to closest node published to topic [/closest_node_distance]{.title-ref}. This is always the distance to the physically closest node.
Merge pull request #100 from adambinch/toponav2_launch Launch files toponav 2 ready
minor change
Making launch files toponav 2 ready.
minor change
Minor change
improved description of arg
minor improvement.
Making launch files toponav 2 ready.
Making launch files toponav 2 ready.
Making launch files toponav2 ready.
Making launch files toponav 2 ready.
minor improvement
minor change
Making launch files toponav 2 ready.
Making launch files toponav 2 ready.
Making launch files toponav 2 ready.
minor change
minor improvement
Making launch files toponav 2 ready. Improvement to get_edge_vectors function in localisation.
navstats_loger.py changed to navstats_logger.py
Making launch files toponav 2 ready.
Making launch files toponav 2 ready.
Making launch files toponav 2 ready. Updated rviz config. Tidying of nav script.
Merge branch 'master' of github.com:LCAS/topological_navigation into toponav2_launch
Merge pull request #99 from adambinch/melodic-devel Fix
exec policy sets the correct target
Improvement to exec policy prints
minor change
minor change
improvements to prints
minor change
Fix
Making launch files toponav 2 ready
Merge branch 'master' of github.com:LCAS/topological_navigation into toponav2_launch
Merge pull request #98 from adambinch/faster_route_search2 Faster route distance function
Faster route distance function
Merge pull request #96 from adambinch/faster_route_search2 Faster Route Planner for Toponav 2
Navigation now takes advantage of the faster route planner
adding possibility of satisfying runtime restrictions, not tested yet
Merge branch 'master' of github.com:LCAS/topological_navigation into faster_route_search2
tidying
Faster Route Search 2
Reverted change to navigation script as those will be done in a separate PR.
adding services to evaluate single nodes/edges and exactPose restriction
Modifying launch files for toponav 2 usage. Bit of tidying of navigation script.
up
WIP adding runtime restriction for obstacles in path, based on the other robots poses
allow topics namespaced
correctly publishing topomap2
providing restricted tmaps for each robot£
restrictions manager auto infer robot state from namespaced topic if state not provided
Merge branch 'toponav2-devel-restrictions' of github.com:francescodelduchetto/topological_navigation into toponav2-devel
Merge branch 'toponav2-restrictions' of github.com:francescodelduchetto/topological_navigation into toponav2-devel
WIP restrictions to ground to specific robot automatically using namespace
'restrictions_manager' to 'topological_restrictions_manager'
adding requirement of sympy>=1.5.1
restriction manager works with runtime and planning restrictions; test script for testing
Merge branch 'melodic-devel' of https://github.com/adambinch/topological_navigation into adam_melodic-devel
Merge branch 'master' of https://github.com/adambinch/topological_navigation into adam-master
WIP kinda of works
WIP restrictions manager
Contributors: Adam Binch, Gautham P Das, Jaime Pulido Fentanes, MikHut, adambinch, francescodelduchetto, gpdas

2.3.0 (2021-07-15)

Merge pull request #95 from adambinch/melodic-devel Navigating from the closest edge is now optional.
simplification
Navigating from the closest edge is now optional. Set with param [max_dist_to_closest_edge]{.title-ref} (default = 1 meter) Robot will NOT attempt to navigate from the closest edge if ANY of the following are true: a) [max_dist_to_closest_edge]{.title-ref} = 0 b) the distance to closest edge > [max_dist_to_closest_edge]{.title-ref}

c) current node != "none" Else the robot will navigate from the closest node in exactly the same way as it has always done.
Merge pull request #94 from adambinch/tmap_to_tmap2 Script for converting all tmaps found in repo to tmap2 format and script for populating tmap2s with params from edge reconfigure config files.
Script for populating tmap2s with edge reconfigure params from edge reconfigure groups config files.
Finished script for converting tmaps. Map manager services registered in the class __init_ function and the tmap is loaded in separate init_map function.
Merge branch 'master' of github.com:LCAS/topological_navigation into tmap_to_tmap2 # Conflicts: # topological_navigation/src/topological_navigation/manager.py
Merge pull request #93 from adambinch/melodic-devel fix
fix
Merge pull request #91 from adambinch/melodic-devel Nav from closest edge fix
fix
If the closest edges are of equal distance (usually a bidirectional edge) then use the destination node that results in a shorter route to the goal.
Localisation map callback only sets map received when all computation inside the callback has completed. Comments and tidying.
another fix
fix
distance from edge taken into account when deciding to navigate from closest edge
toponav generates route between the destination node of the closest edge and the goal node
Merge pull request #89 from adambinch/melodic-devel Efficient computing of closest edges in localisation.
minor change
New [get_edge_distances_to_pose]{.title-ref} functions catches exeception. Code more efficient and tidying. readme.md updated to warn reader that current instructions apply to legacy branch.
more efficient
more efficient
tidying
vectorised the toponav version of point2line, such that you can pass it a numpy array of edges (an array of vectors) and get it to return you the distances to every edge in the map at once.
Improvement to reporting of errors by [get_edge_distances_to_pose]{.title-ref} function in localisation.
Better name for new param
Efficient computing of closest edges in localisation. Option to get the closest edges only from the N closest nodes to the robot. Useful for very large and dense maps (such as clockhouse vanity transportation map) where you do not want to be computing the distance from every edge in the map to the robot. N set by rosparam [/topological_localisation/NumClosestNodes]{.title-ref}. Default is 0, such that that the distance is computed for every edge in the map.
Merge pull request #86 from adambinch/melodic-devel Switch map srv looks for maps in current working directory and also converts from tmap1 to tmap2 and vice-versa.
simplification
tidying
minor change
Removed unused [n_tries]{.title-ref} param and imports. Tidying.
params [/topological_map_filename]{.title-ref} and [/topological_map2_filename]{.title-ref}
fix
minor change
tidying
Merge branch 'master' of github.com:LCAS/topological_navigation into melodic-devel
Merge pull request #88 from adambinch/fix Fix for localisation breaking when edge in map has destination equal to origin
only prints error once
toponav checks if an edge in the map has a destination equal to its origin
testing build
testing build
removed redundant service
tidying
minor improvements
Starting script for converting all legacy tmaps in a repo to new format
Merge branch 'master' of github.com:LCAS/topological_navigation into tmap_to_tmap2
corresponding changes to manager 2 switch maps srv
Fix for old map manager switch map srv returning a service response error when converting the switched map to new format.
switch map srv assumes you are switching maps within the same dir when loading map from file
old map manager switch map srv converts updated map to new format
Merge pull request #85 from adambinch/melodic-devel Map manager services for updating edge action, type and goal.
Retained ability to do edge reconfigure in the old way (currently default). Example config provided.
map manager service for setting the action, action type and goal for an edge map manager service for setting the action type and goal for any edge with a given action
Merge pull request #57 from LCAS/toponav2-devel Topological Navigation version 2 Master Branch
Merge pull request #82 from adambinch/fix_conflicts Fix conflicts
Merge branch 'master' of github.com:LCAS/topological_navigation into fix_conflicts # Conflicts: # topological_navigation/scripts/execute_policy_server.py # topological_navigation/scripts/navigation.py
Merge pull request #77 from adambinch/melodic-devel Fixes
fix for a couple of the utils
tidying
tidying
minor change
Route checker checks for empty strings and other improvements
fix for route checker not catching an empty exec policy route
fixing race conditions when multiple goals arrive at the same time
old manager allows switching of topomap when loading from a file
fix for go to node action not ending in correct terminal state when preempted by exec policy and vice-versa
minor imporvements
Merge pull request #62 from francescodelduchetto/master New features in bayesian_topological_localisation node
mnior changes
Fix for exec policy action breaking toponav when the goal route is invalid
minor changes and tidying
improved route checking function
Function for checking if an exec policy route is valid
Fix for go to node action breaking when the goal exists but there is no route to it.
tidying
Map manager fixes
fix
minor change
minor changes
Improvements to edge action manager
Merge pull request #76 from adambinch/any_edge_action Improvement to edge action manager
minor change
fixes
minor change
minor changes
Fix for goal preempting breaking nav
Merge pull request #75 from adambinch/any_edge_action Topological navigation can handle any type of goal.
minor change
possible fix
map manger 2 sets default action type as [move_base_msgs/MoveBaseGoal]{.title-ref}
fix
Functions of edge reconf manager called only when there are param to reconfigure.
Minor changes
Removed monitored navigation
Integration of edge action manager into navigation script. Toponav can now use any type of goals.
get_node_from_tmap2 utility modified so it returns all of the node inc its meta. consequent changes to other files.
New manager 2 srv for updating the action type of each edge in the tmap according to the action name
Edge action manager finished hopefully
Improvements to the edge action manager
Edge action manager: can construct goals and map them to ROS messages flexibly. Updated map manager with new default fields for the goal specified in the topological edge.
Working on edge action manager. map manager 2 now sets rosparam [topological_map_name]{.title-ref}
Merge pull request #73 from adambinch/switch_topomap switch topological maps srv works when loading tmaps from files
switch topological maps srv works when loading tmaps from files
minor changes
Making new class for handling (any) edge actions
Merge branch 'toponav2-devel' of github.com:LCAS/topological_navigation into any_edge_action
Merge pull request #72 from adambinch/toponav2-devel minor change
minor change
Merge pull request #71 from adambinch/toponav2-devel Edge reconf manager improvement to exception handling
Edge reconf manager improvement to exception handling
edge reconf manager improvement to exception handling
Merge branch 'toponav2-devel' of github.com:LCAS/topological_navigation into any_edge_action
Merge pull request #70 from adambinch/toponav2-devel Edge Reconfigure Improvements
more efficient
edge reconfigure manager only resets params that have been reconfigured
tidying
Tidying
Merge pull request #69 from adambinch/pub_closest_edges Planning considering edges when robot current_node = none and topological localisation publishes closest edges to the robot.
Merge pull request #2 from francescodelduchetto/adambinch-pub_closest_edges Planning considering edges when robot current_node = none
warn to info
planning ensures that the robot does not goes back to closest node before navigating and that it always navigate from the closest edge when far from any node
Function for getting distance to edges is much more efficient
Merge branch 'pub_closest_edges' of https://github.com/adambinch/topological_navigation into adambinch-pub_closest_edges
tidying
tidying
tidying
tidying
Topological Localisation publishes closest edges to the robot. Publishes the two closest edges to the robot on the topic [/closest_edges]{.title-ref} with message type [topological_navigation_msgs.msg.ClosestEdges]{.title-ref} This message has fields for the edge ids and the distances (to the robot) e.g. ---edge_ids: [WayPoint56_WayPoint66, WayPoint66_WayPoint56] distances: [0.3709999918937683, 0.3709999918937683] ---Often the two edges reported on this topic will form a bi-directional edge.
Merge pull request #63 from ayu135/combine_exec_nav Combine execute policy and nav actions in a single script
Added none check for set ended
Merge pull request #2 from francescodelduchetto/ayu135-combine_exec_nav Ayu135 combine exec nav
correctly cancelling previous goal and waiting before starting the new one
remove some superfluous lines in preempting nav goals
Merge branch 'combine_exec_nav' of https://github.com/ayu135/topological_navigation into toponav2-devel
Merge pull request #67 from francescodelduchetto/toponav2-restrictions Toponav2 restrictions implementation
Merge branch 'combine_exec_nav' of https://github.com/ayu135/topological_navigation into ayu135-combine_exec_nav
'restrictions_manager' to 'topological_restrictions_manager'
adding requirement of sympy>=1.5.1
restriction manager works with runtime and planning restrictions; test script for testing
WIP restrictions manager
Merge pull request #66 from adambinch/melodic-devel Nodes and edges have two restrictions fields, one for planning restrictions and one for runtime restrictions.
if updating node restrictions then apply planning restrictions to edges involving the node. Set this behaviour with new boolean arg [update_edges]{.title-ref} in srv for updating a node's restrictions
Nodes and edges have two restrictions fields, one for planning restrictions and one for runtime restrictions. Both are boolean sentences (default="True") Update restrictions services modified to account for this.
Better integrate nav and exec policy actions
Combined execute policy and nav actions in a single script navigation.py
Removed tmap1 related functions fron nav.py
Merge pull request #64 from adambinch/melodic-devel Map manager services for updating restrictions
Map manager services for updating restrictions Restrictions field for a node or an edge is now a string which is a boolean sentence (default="True"). New services [/topological_map_manager2/update_node_restrictions]{.title-ref} and [/topological_map_manager2/update_edge_restrictions]{.title-ref} added in the map manager 2.
Merge pull request #3 from francescodelduchetto/particles-states Particles states
remove modifications to route_search
Merge pull request #60 from adambinch/melodic-devel Base frame used by localisation is no longer hard coded (in toponav 2).
file renamed in install targets
Merge branch 'melodic-devel' of github.com:adambinch/topological_navigation into melodic-devel
pose pub is replaced with a tf broadcaster. renamed file
added install target for the new node.
New node for publishing the map to topomap transform on the topic [/topological_transform]{.title-ref} with msg type [geometry_msgs/TransformStamped]{.title-ref}
Base frame used by localisation is no longer hard coded. It is set by a rosparam [topological_localisation/base_frame]{.title-ref} (default=`base_link`). topo_map frame is retrieved from the topological map. removed unused imports from localisation.
Merge pull request #58 from adambinch/melodic-devel removed [use_tmap2]{.title-ref} arg from localisation - localisation uses the new…
removed [use_tmap2]{.title-ref} arg from localisation - localisation uses the new format map only.
Merge pull request #54 from adambinch/edge_reconf Edge reconfigure integration for the new map type
minor improvement to the edge reconfigure manager
The edge reconfigure manager is in its own file.
Cant add duplicate params when using srv [add_param_to_edge_config]{.title-ref}
Fixes and improvements to the edge reconfigure manager.
Lots of fixes
EdgeReconfigureManager class done. Needs testing.
Service [update_edge_config]{.title-ref} renamed to [add_param_to_edge_config]{.title-ref} to better reflect what it does. That service and [rm_param_from_edge_config]{.title-ref} modified to account for the changes in the previous commit. Constructing new class [EdgeReconfigureManager]{.title-ref} in [navigation.py]{.title-ref} to handle everything edge reconfigure related.
topo path planning considers blacklisted nodes
Edges config is now a list where each item is a dict with the params namespace, name and value. The default config is empty and the tmap to tmap2 conversion sets an empty config.
Service for removing params from an edge's config and a fix.
service [update_edge_reconf]{.title-ref} renamed to [update_edge_config]{.title-ref}
New service for adding/updating edge reconfigure parameters.
fix
Function that does the new to old conversion catches exceptions
[convert_to_legacy]{.title-ref} rosparam sets whther the new to old format map conversion happens or not
map manager 2 coverts new format maps (broadcast on the topic [/topological_map_2]{.title-ref}) to the old format (broadcast on the topic [/topological_map]{.title-ref}). This allows nodes/actions that rely on the old map format to function whilst using/testing features from the new map.
The arg [use_tmap2]{.title-ref} (used by localisation and navigation) is now a rosparam
Merge pull request #47 from heuristicus/eband-planner Allow use of EBandPlannerROS as local planner
Some fixes: The monitored navigation function in [navigation.py]{.title-ref} expects a geom msgs Pose object rather than a monitored nav goal object (stops nav breaking when using the old map format). Navigation now reconfigures move base tolerances according to the values specified in the tmap.
Merge pull request #45 from ayu135/toponav2-devel Added tmap2 support for navigation.py and execute_policy
added route_search2.py for tmap2 and corresponding changes and fixes
Added separate navigate and follow route funtions for tmap2
Added command line option for topomap2
Some fixes after testing
Updated map callback for execute policy
adding support for tmap2 and combining execute policy
Merge pull request #44 from adambinch/manager2_srvs All manager services available and working on new map type
Improvement to the function that loads the map
Correction to srv [/topological_map_manager2/update_edge]{.title-ref}
add max_vel_lin for eband in dynparam mapping
add eband to dynparam mappings
When loading a map using the map manager 2, it is cached in [$HOME/.ros/topological_maps]{.title-ref}. General improvements.
correction
reverting accidental change
minor improvement
Added srvs [/topological_map_manager2/rm_tag_from_node]{.title-ref} and [/topological_map_manager2/update_edge]{.title-ref}
Added srvs [/topological_map_manager2/modify_node_tags]{.title-ref} and [/topological_map_manager2/add_tag_to_node]{.title-ref}
Added srvs [/topological_map_manager2/update_node_pose]{.title-ref} and [/topological_map_manager2/update_node_tolerance]{.title-ref}. General improvements.
Added service [/topological_map_manager2/update_node_name]{.title-ref}
Added service [/topological_map_manager2/add_content_to_node]{.title-ref}
Added services [/topological_map_manager2/remove_topological_node]{.title-ref} and [/topological_map_manager2/remove_edge]{.title-ref}. General improvements.
Made map manager 2 node more user friendly Corrected error when generating influence zone vertices removed unnecessary msg definition General improvements
Added services [/topological_map_manager2/add_topological_node]{.title-ref} and [/topological_map_manager2/add_edges_between_nodes]{.title-ref}
Made node([map_manager2.py]{.title-ref}) for loading in new format maps using the manager 2 class. Added service [/topological_map_manager2/write_topological_map]{.title-ref} for writing new format topological maps to yaml files. If you dont specify the path/name of the map then it will just write to the one given to the manager 2 class. When loading a tmap ([tmap.tmap]{.title-ref}) from a file using the original map manager, the converted tmap can now be written to a file ([tmap.yaml]{.title-ref}) using the [write_topological_map]{.title-ref} service. Added map sanity checking function to the manager 2 class.
minor changes
Merge branch 'master' of https://github.com/LCAS/topological_navigation into manager2_srvs
Created [topological_navigation_msgs]{.title-ref} package that will contain the new msg and srv types for the new format topomap. Added services [/topological_map_manager2/switch_topological_map]{.title-ref} and [/topological_map_manager2/get_edges_between_nodes]{.title-ref}. Added function in map manager 2 that warns if you are trying to use it to load an old-format topomap. Some minor improvements.
Edge id field included in new map. Default is [origin_destination]{.title-ref}
minor change
Added manager 2 services:
- [get_topological_map ]{.title-ref}
- [get_tagged_nodes]{.title-ref}
- [get_tags]{.title-ref}
- [get_node_tags]{.title-ref}
correction
map manager 2 class now publishes the new format topomap, rather than the origin map manager. map manager 2 can now load a new format topomap from a given file path.
Merge pull request #31 from adambinch/loc2 All functions in localisation now work with the new map type.
correction
corrections
All functions in localisation can now work with the new map type. This includes its services.
rearranging
Argument added to switch between using map types in topological localisation. Get nodes with tag service in localisation now works on new map type. Map manager 2 now has service for getting nodes with a tag. Map manager now adds a nodes tags during map conversion.
Localisation uses the topo_map to base_link tf transform, rather than the robot pose.
prettyfying
Map manager broadcasts map->topo_map tf transform.
Merge pull request #29 from adambinch/topomap2 Function for converting topological maps into the new format in the
New map type is regenerated and republished when current map is updated.
bit of tidying
Map manager keeps its class attribute copy of the new map as a dictionary, but publishes it as a string.
updated package xml
minor change
Function for converting topological maps into the new format in the map manager. Includes a map manager 2 class for handling topological maps in the new format.
Contributors: Adam Binch, Ayush Sharma, Jaime Pulido Fentanes, Michal Staniaszek, adambinch, francescodelduchetto, gpdas
Merge pull request #95 from adambinch/melodic-devel Navigating from the closest edge is now optional.
simplification
Navigating from the closest edge is now optional. Set with param [max_dist_to_closest_edge]{.title-ref} (default = 1 meter) Robot will NOT attempt to navigate from the closest edge if ANY of the following are true: a) [max_dist_to_closest_edge]{.title-ref} = 0 b) the distance to closest edge > [max_dist_to_closest_edge]{.title-ref}

c) current node != "none" Else the robot will navigate from the closest node in exactly the same way as it has always done.
Merge pull request #94 from adambinch/tmap_to_tmap2 Script for converting all tmaps found in repo to tmap2 format and script for populating tmap2s with params from edge reconfigure config files.
Script for populating tmap2s with edge reconfigure params from edge reconfigure groups config files.
Finished script for converting tmaps. Map manager services registered in the class __init_ function and the tmap is loaded in separate init_map function.
Merge branch 'master' of github.com:LCAS/topological_navigation into tmap_to_tmap2 # Conflicts: # topological_navigation/src/topological_navigation/manager.py
Merge pull request #93 from adambinch/melodic-devel
Merge pull request #91 from adambinch/melodic-devel Nav from closest edge fix
If the closest edges are of equal distance (usually a bidirectional edge) then use the destination node that results in a shorter route to the goal.
Localisation map callback only sets map received when all computation inside the callback has completed. Comments and tidying.
another fix
distance from edge taken into account when deciding to navigate from closest edge
toponav generates route between the destination node of the closest edge and the goal node
Merge pull request #89 from adambinch/melodic-devel Efficient computing of closest edges in localisation.
minor change
New [get_edge_distances_to_pose]{.title-ref} functions catches exeception. Code more efficient and tidying. readme.md updated to warn reader that current instructions apply to legacy branch.
more efficient
more efficient
tidying
vectorised the toponav version of point2line, such that you can pass it a numpy array of edges (an array of vectors) and get it to return you the distances to every edge in the map at once.
Improvement to reporting of errors by [get_edge_distances_to_pose]{.title-ref} function in localisation.
Better name for new param
Efficient computing of closest edges in localisation. Option to get the closest edges only from the N closest nodes to the robot. Useful for very large and dense maps (such as clockhouse vanity transportation map) where you do not want to be computing the distance from every edge in the map to the robot. N set by rosparam [/topological_localisation/NumClosestNodes]{.title-ref}. Default is 0, such that that the distance is computed for every edge in the map.
Merge pull request #86 from adambinch/melodic-devel Switch map srv looks for maps in current working directory and also converts from tmap1 to tmap2 and vice-versa.
Merge pull request #88 from adambinch/fix Fix for localisation breaking when edge in map has destination equal to origin
Merge branch 'master' of github.com:LCAS/topological_navigation into tmap_to_tmap2
corresponding changes to manager 2 switch maps srv
Fix for old map manager switch map srv returning a service response error when converting the switched map to new format.
switch map srv assumes you are switching maps within the same dir when loading map from file
old map manager switch map srv converts updated map to new format
Merge pull request #85 from adambinch/melodic-devel Map manager services for updating edge action, type and goal.
Retained ability to do edge reconfigure in the old way (currently default). Example config provided.
map manager service for setting the action, action type and goal for an edge map manager service for setting the action type and goal for any edge with a given action
Merge pull request #57 from LCAS/toponav2-devel Topological Navigation version 2 Master Branch
Merge pull request #82 from adambinch/fix_conflicts Fix conflicts
Merge branch 'master' of github.com:LCAS/topological_navigation into fix_conflicts # Conflicts: # topological_navigation/scripts/execute_policy_server.py # topological_navigation/scripts/navigation.py
Merge pull request #77 from adambinch/melodic-devel Fixes
fix for a couple of the utils
tidying
tidying
minor change
Route checker checks for empty strings and other improvements
fix for route checker not catching an empty exec policy route
fixing race conditions when multiple goals arrive at the same time
old manager allows switching of topomap when loading from a file
fix for go to node action not ending in correct terminal state when preempted by exec policy and vice-versa
minor imporvements
Merge pull request #62 from francescodelduchetto/master New features in bayesian_topological_localisation node
mnior changes
Fix for exec policy action breaking toponav when the goal route is invalid
minor changes and tidying
improved route checking function
Function for checking if an exec policy route is valid
Fix for go to node action breaking when the goal exists but there is no route to it.
tidying
Map manager fixes
fix
minor change
minor changes
Improvements to edge action manager
Merge pull request #76 from adambinch/any_edge_action Improvement to edge action manager
minor change
fixes
minor change
minor changes
Fix for goal preempting breaking nav
Merge pull request #75 from adambinch/any_edge_action Topological navigation can handle any type of goal.
minor change
possible fix
map manger 2 sets default action type as [move_base_msgs/MoveBaseGoal]{.title-ref}
fix
Functions of edge reconf manager called only when there are param to reconfigure.
Minor changes
Removed monitored navigation
Integration of edge action manager into navigation script. Toponav can now use any type of goals.
get_node_from_tmap2 utility modified so it returns all of the node inc its meta. consequent changes to other files.
New manager 2 srv for updating the action type of each edge in the tmap according to the action name
Edge action manager finished hopefully
Improvements to the edge action manager
Edge action manager: can construct goals and map them to ROS messages flexibly. Updated map manager with new default fields for the goal specified in the topological edge.
Working on edge action manager. map manager 2 now sets rosparam [topological_map_name]{.title-ref}
Merge pull request #73 from adambinch/switch_topomap switch topological maps srv works when loading tmaps from files
switch topological maps srv works when loading tmaps from files
minor changes
Making new class for handling (any) edge actions
Merge branch 'toponav2-devel' of github.com:LCAS/topological_navigation into any_edge_action
Merge pull request #72 from adambinch/toponav2-devel minor change
minor change
Merge pull request #71 from adambinch/toponav2-devel Edge reconf manager improvement to exception handling
Edge reconf manager improvement to exception handling
edge reconf manager improvement to exception handling
Merge branch 'toponav2-devel' of github.com:LCAS/topological_navigation into any_edge_action
Merge pull request #70 from adambinch/toponav2-devel Edge Reconfigure Improvements
more efficient
edge reconfigure manager only resets params that have been reconfigured
tidying
Tidying
Merge pull request #69 from adambinch/pub_closest_edges Planning considering edges when robot current_node = none and topological localisation publishes closest edges to the robot.
Merge pull request #2 from francescodelduchetto/adambinch-pub_closest_edges Planning considering edges when robot current_node = none
warn to info
planning ensures that the robot does not goes back to closest node before navigating and that it always navigate from the closest edge when far from any node
Function for getting distance to edges is much more efficient
Merge branch 'pub_closest_edges' of https://github.com/adambinch/topological_navigation into adambinch-pub_closest_edges
tidying
tidying
tidying
tidying
Topological Localisation publishes closest edges to the robot. Publishes the two closest edges to the robot on the topic [/closest_edges]{.title-ref} with message type [topological_navigation_msgs.msg.ClosestEdges]{.title-ref} This message has fields for the edge ids and the distances (to the robot) e.g. ---edge_ids: [WayPoint56_WayPoint66, WayPoint66_WayPoint56] distances: [0.3709999918937683, 0.3709999918937683] ---Often the two edges reported on this topic will form a bi-directional edge.
Merge pull request #63 from ayu135/combine_exec_nav Combine execute policy and nav actions in a single script
Added none check for set ended
Merge pull request #2 from francescodelduchetto/ayu135-combine_exec_nav Ayu135 combine exec nav
correctly cancelling previous goal and waiting before starting the new one
remove some superfluous lines in preempting nav goals
Merge branch 'combine_exec_nav' of https://github.com/ayu135/topological_navigation into toponav2-devel
Merge pull request #67 from francescodelduchetto/toponav2-restrictions Toponav2 restrictions implementation
Merge branch 'combine_exec_nav' of https://github.com/ayu135/topological_navigation into ayu135-combine_exec_nav
'restrictions_manager' to 'topological_restrictions_manager'
adding requirement of sympy>=1.5.1
restriction manager works with runtime and planning restrictions; test script for testing
WIP restrictions manager
Merge pull request #66 from adambinch/melodic-devel Nodes and edges have two restrictions fields, one for planning restrictions and one for runtime restrictions.
if updating node restrictions then apply planning restrictions to edges involving the node. Set this behaviour with new boolean arg [update_edges]{.title-ref} in srv for updating a node's restrictions
Nodes and edges have two restrictions fields, one for planning restrictions and one for runtime restrictions. Both are boolean sentences (default="True") Update restrictions services modified to account for this.
Better integrate nav and exec policy actions
Combined execute policy and nav actions in a single script navigation.py
Removed tmap1 related functions fron nav.py
Merge pull request #64 from adambinch/melodic-devel Map manager services for updating restrictions
Map manager services for updating restrictions Restrictions field for a node or an edge is now a string which is a boolean sentence (default="True"). New services [/topological_map_manager2/update_node_restrictions]{.title-ref} and [/topological_map_manager2/update_edge_restrictions]{.title-ref} added in the map manager 2.
Merge pull request #3 from francescodelduchetto/particles-states Particles states
remove modifications to route_search
Merge pull request #60 from adambinch/melodic-devel Base frame used by localisation is no longer hard coded (in toponav 2).
file renamed in install targets
Merge branch 'melodic-devel' of github.com:adambinch/topological_navigation into melodic-devel
pose pub is replaced with a tf broadcaster. renamed file
added install target for the new node.
New node for publishing the map to topomap transform on the topic [/topological_transform]{.title-ref} with msg type [geometry_msgs/TransformStamped]{.title-ref}
Base frame used by localisation is no longer hard coded. It is set by a rosparam [topological_localisation/base_frame]{.title-ref} (default=`base_link`). topo_map frame is retrieved from the topological map. removed unused imports from localisation.
Merge pull request #58 from adambinch/melodic-devel removed [use_tmap2]{.title-ref} arg from localisation - localisation uses the new…
removed [use_tmap2]{.title-ref} arg from localisation - localisation uses the new format map only.
Merge pull request #54 from adambinch/edge_reconf Edge reconfigure integration for the new map type
minor improvement to the edge reconfigure manager
The edge reconfigure manager is in its own file.
Cant add duplicate params when using srv [add_param_to_edge_config]{.title-ref}
Fixes and improvements to the edge reconfigure manager.
Lots of fixes
EdgeReconfigureManager class done. Needs testing.
Service [update_edge_config]{.title-ref} renamed to [add_param_to_edge_config]{.title-ref} to better reflect what it does. That service and [rm_param_from_edge_config]{.title-ref} modified to account for the changes in the previous commit. Constructing new class [EdgeReconfigureManager]{.title-ref} in [navigation.py]{.title-ref} to handle everything edge reconfigure related.
topo path planning considers blacklisted nodes
Edges config is now a list where each item is a dict with the params namespace, name and value. The default config is empty and the tmap to tmap2 conversion sets an empty config.
Service for removing params from an edge's config and a fix.
service [update_edge_reconf]{.title-ref} renamed to [update_edge_config]{.title-ref}
New service for adding/updating edge reconfigure parameters.
fix
Function that does the new to old conversion catches exceptions
[convert_to_legacy]{.title-ref} rosparam sets whther the new to old format map conversion happens or not
map manager 2 coverts new format maps (broadcast on the topic [/topological_map_2]{.title-ref}) to the old format (broadcast on the topic [/topological_map]{.title-ref}). This allows nodes/actions that rely on the old map format to function whilst using/testing features from the new map.
The arg [use_tmap2]{.title-ref} (used by localisation and navigation) is now a rosparam
Merge pull request #47 from heuristicus/eband-planner Allow use of EBandPlannerROS as local planner
Some fixes: The monitored navigation function in [navigation.py]{.title-ref} expects a geom msgs Pose object rather than a monitored nav goal object (stops nav breaking when using the old map format). Navigation now reconfigures move base tolerances according to the values specified in the tmap.
Merge pull request #45 from ayu135/toponav2-devel Added tmap2 support for navigation.py and execute_policy
added route_search2.py for tmap2 and corresponding changes and fixes
Added separate navigate and follow route funtions for tmap2
Added command line option for topomap2
Some fixes after testing
Updated map callback for execute policy
adding support for tmap2 and combining execute policy
Merge pull request #44 from adambinch/manager2_srvs All manager services available and working on new map type
Improvement to the function that loads the map
Correction to srv [/topological_map_manager2/update_edge]{.title-ref}
add max_vel_lin for eband in dynparam mapping
add eband to dynparam mappings
When loading a map using the map manager 2, it is cached in [$HOME/.ros/topological_maps]{.title-ref}. General improvements.
correction
reverting accidental change
minor improvement
Added srvs [/topological_map_manager2/rm_tag_from_node]{.title-ref} and [/topological_map_manager2/update_edge]{.title-ref}
Added srvs [/topological_map_manager2/modify_node_tags]{.title-ref} and [/topological_map_manager2/add_tag_to_node]{.title-ref}
Added srvs [/topological_map_manager2/update_node_pose]{.title-ref} and [/topological_map_manager2/update_node_tolerance]{.title-ref}. General improvements.
Added service [/topological_map_manager2/update_node_name]{.title-ref}
Added service [/topological_map_manager2/add_content_to_node]{.title-ref}
Added services [/topological_map_manager2/remove_topological_node]{.title-ref} and [/topological_map_manager2/remove_edge]{.title-ref}. General improvements.
Made map manager 2 node more user friendly Corrected error when generating influence zone vertices removed unnecessary msg definition General improvements
Added services [/topological_map_manager2/add_topological_node]{.title-ref} and [/topological_map_manager2/add_edges_between_nodes]{.title-ref}
Made node([map_manager2.py]{.title-ref}) for loading in new format maps using the manager 2 class. Added service [/topological_map_manager2/write_topological_map]{.title-ref} for writing new format topological maps to yaml files. If you dont specify the path/name of the map then it will just write to the one given to the manager 2 class. When loading a tmap ([tmap.tmap]{.title-ref}) from a file using the original map manager, the converted tmap can now be written to a file ([tmap.yaml]{.title-ref}) using the [write_topological_map]{.title-ref} service. Added map sanity checking function to the manager 2 class.
minor changes
Merge branch 'master' of https://github.com/LCAS/topological_navigation into manager2_srvs
Created [topological_navigation_msgs]{.title-ref} package that will contain the new msg and srv types for the new format topomap. Added services [/topological_map_manager2/switch_topological_map]{.title-ref} and [/topological_map_manager2/get_edges_between_nodes]{.title-ref}. Added function in map manager 2 that warns if you are trying to use it to load an old-format topomap. Some minor improvements.
Edge id field included in new map. Default is [origin_destination]{.title-ref}
minor change
Added manager 2 services:
- [get_topological_map ]{.title-ref}
- [get_tagged_nodes]{.title-ref}
- [get_tags]{.title-ref}
- [get_node_tags]{.title-ref}
correction
map manager 2 class now publishes the new format topomap, rather than the origin map manager. map manager 2 can now load a new format topomap from a given file path.
Merge pull request #31 from adambinch/loc2 All functions in localisation now work with the new map type.
correction
corrections
All functions in localisation can now work with the new map type. This includes its services.
rearranging
Argument added to switch between using map types in topological localisation. Get nodes with tag service in localisation now works on new map type. Map manager 2 now has service for getting nodes with a tag. Map manager now adds a nodes tags during map conversion.
Localisation uses the topo_map to base_link tf transform, rather than the robot pose.
prettyfying
Map manager broadcasts map->topo_map tf transform.
Merge pull request #29 from adambinch/topomap2 Function for converting topological maps into the new format in the
New map type is regenerated and republished when current map is updated.
bit of tidying
Map manager keeps its class attribute copy of the new map as a dictionary, but publishes it as a string.
updated package xml
minor change
Function for converting topological maps into the new format in the map manager. Includes a map manager 2 class for handling topological maps in the new format.
Contributors: Adam Binch, Ayush Sharma, Jaime Pulido Fentanes, Michal Staniaszek, adambinch, francescodelduchetto, gpdas

2.1.0 (2020-04-20)

Merge pull request #7 from heuristicus/improve-manager Minor quality of life improvements for map_manager
influence vertices generated by function rather than hardcoded
goal tolerances are object attribute, close_nodes dist is a parameter
add message_generation to cmakelists
Contributors: Jaime Pulido Fentanes, Michal Staniaszek

2.0.0 (2020-04-08)

1.1.1 (2020-04-08)

Merge pull request #6 from Jailander/master Choosing move base action to approach node position following actions…
Choosing move base action to approach node position following actions order defined in move_base_actions parameter. This is very useful to establish priorities across the map
Merge pull request #5 from adambinch/fix Added reconf at edges server as an install target.
Added reconf at edges server as an install target.
Merge pull request #2 from Jailander/master Importing original version of topological navigation
Merge branch 'temp_toponav_only' of ../strands_navigation
moving all files into correct folder
Contributors: Jaime Pulido Fentanes, Marc Hanheide, adambinch, jailander

1.1.0 (2019-11-27)

Merge pull request #377 from gpdas/fix_route_search Fix route search
variable name fix
Merge branch 'indigo-devel' into fix_route_search
Merge pull request #376 from gpdas/exec_policy_reconf_edge enable edge_reconfig for execute_policy_mode server
fix TopologicalRouteSearch
1. As of now, an expanded node (in expanded or to_expand) are not updated when a shorter path to it is found. This is fixed.
2. Some performance improvements by limiting loop iterations searching for expanded_node
TopologicalRouteSearch checks origin and target are the same
enable edge_reconfig for execute_policy_mode server
1. edge reconfig ported from topological_navigation/navigation.py
2. minor fixes in
- topological_navigation/navigation.py
- topological_navigation/route_search.py
Contributors: Jaime Pulido Fentanes, gpdas

1.0.8 (2019-06-04)

Merge pull request #374 from Jailander/edge-reconf Move base parameters being reconfigured at edges
Merge pull request #373 from bfalacerda/indigo-devel add local planner arg to single robot topo nav launch
Merge pull request #1 from gpdas/edge-reconf reconfig_at_edges services added
update current_edge_group only if reconfig successful reconf_at_edges service node now subscribes to param /edge_nav_reconfig_groups (removed relative ns)
reconfig_at_edges services added
1. edges_groups param is modified to have the parameter names and values for reconfiguration
2. added a node in topological_navigation for running the reconf_at_edges service - \@adambinch
3. topological_navigation/navigation.py updated to use the modified param
Merge branch 'indigo-devel' of https://github.com/strands-project/strands_navigation into indigo-devel
add local planner arg to single robot topo nav launch
Moving reconf server to strands
reconfiguring when no group (so default option can be used)
Reverting test
testing
Now resetting to the right set of params
bug fix
Re-configuring tolerance from latest set of parameters not original set
adding edge reconfigure manager
Corrected battery namespaces for localise by topic
Merge pull request #369 from strands-project/ori-indigo-devel Support for multi-robot and different global planners
minor changes to work with move_base_flex. defaults should produce backward compatible behaviour still
Fixed typo and maintaining backward compatibility for policy visualisation
Corrected indentation
Merge remote-tracking branch 'ori/indigo-devel' into indigo-devel Bringing in changes from ORI for multi-robot and different base planners.
respawn travel estimator when it dies
Using correct exception type for dynparam call
add different color to policy arrows
Updated top nav execution to handled different types of local planner for move_base. Tested under navigation and policy execution, but not extensively.
Minimal topological navigation config with no extra dependencies and no monitored nav recoveries
top nav supports other planners for dynparam. still need to update policy exec
making topo nav feedback more robutst to possible lag in localisation - fetch issues
making sure number of fails gets reset after the fail threshold is reached
make code less contrived
correct feedback publishing from topo nav
multi-robot setup
update of absolute/relative topic names for multi-robot setup
Contributors: Bruno Lacerda, Jaime Pulido Fentanes, Marc Hanheide, Nick Hawes, gpdas

1.0.7 (2018-10-26)

Temporarily disabling Morse-based tests (#360)
Contributors: Jaime Pulido Fentanes

1.0.6 (2018-07-17)

Merge pull request #358 from Jailander/rasberry-devel re-adding ability to work with other planners
Fixes bug on service call for adding node
re-adding ability to work with other planners
Revert "Revert "Revert "Adding the ability to work with local planners other than DWA""" This reverts commit b0ea99543615e6dfc8dbb2cb9969ce1da6ae546c.
Revert "Fixing bug on add node service marker" This reverts commit 0a364cbfda27ea5971eeb871e286cfd186ceca1c.
Revert "Revert "Adding the ability to work with local planners other than DWA"" This reverts commit e11a93bf79b01e17889eb3e00750b8f588385f93.
Revert "Adding the ability to work with local planners other than DWA" This reverts commit b86ca393944362eb9c0cf21884810f5c0f8862e2.
Fixing bug on add node service marker
Adding the ability to work with local planners other than DWA
Contributors: Jaime Pulido Fentanes

1.0.5 (2018-04-17)

add speed based prediction to install scripts
Merge pull request #342 from bfalacerda/predictions optimistic nav predictions until 10 samples
Merge pull request #351 from heuristicus/indigo-devel Can now place nodes with RMB to stop automatic edge creation
Merge pull request #352 from heuristicus/patch-2 Ensure that meta out is defined to prevent crashes
Ensure that meta out is defined to prevent crashes
Can now place nodes with RMB to stop automatic edge creation Fix deletion dialogue, edges and tags were swapped
Merge pull request #350 from heuristicus/patch-1 Fix crash on attempting to change node name
Fix crash on attempting to change node name
Merge pull request #349 from mudrole1/indigo-devel Adding waiting for the add_node service
Removed loadMap() in the delete method
optimistic predictions until 10 samples
Merge branch 'prediction-hacking' of https://github.com/Jailander/strands_navigation into predictions
creating optimistic predictions
Contributors: Bruno Lacerda, Jaime Pulido Fentanes, Lenka Mudrova, Michal Staniaszek, Nick Hawes

1.0.4 (2017-06-23)

Modifications to topological map tools to accommodate topological map editor (#345)
- fix weird space-colon
* Easier translational movement of waypoints, generic node field updater Moving the waypoints that are displayed in the topological map in rviz is now easier - just uses 2D planar motion as opposed to multiple handles for the x and y dimensions. Added a function which calls into the database to update any property of a node. * Fixed not loading map after update, correctly updates edges on node rename This should really not be the file being used - it seems like the one in util is used to change things and as such is more up to date.
- remove unnecessary if
- update function for edge action and top_vel
- add deprecation warnings to topological_map.py - should use manager.py instead
- start on work to make manager services more useful for modifying map
- add callback for getting tags for a specific node
- partial switch to the using manager, updating and adding tags
- fix message fields and add messages to generation
- small script to insert empty map into a database
- add edge removal service
- change callbacks so that functions can be called without service
Update README.md
Contributors: Jaime Pulido Fentanes, Michal Staniaszek

1.0.3 (2017-01-11)

now the actions in the edges of the topological map have different colours, the markers have namespaces and there is a legend with the colours and the action names
Implementing formula for keeping probabilities of under explored edge… (#336)
- Implementing formula for keeping probabilities of under explored edges higher
- Stats on same topic and not builiding fremen models when first topological map arrives
- fixing bug in previous PR
fixing bug in previous PR
Stats on same topic and not builiding fremen models when first topological map arrives
Implementing formula for keeping probabilities of under explored edges higher
Topological prediction now works properly with map switching and using nav_stats only when models have been created
moving localisation subscriber to map callback
adding new action to move_base type actions and making it a param
removing prints
now models will be updated as robot navigates (model building is still necessary one in a while)
Contributors: Jaime Pulido Fentanes, jailander

1.0.2 (2016-10-31)

bug fix
fixes localise by topic and conflicts
Revert "2lbtfix"
forcing check of localise byt topic
makes sense
now it will draw topological map despite of missing nodes for edges
changing default values for model building params and setting params
fixing nav stats
changing default values
now the parameters [/topological_prediction/success_values]{.title-ref} and [/topological_prediction/fail_values]{.title-ref} and be used to set the values considered for failures and successes
Contributors: Jaime Pulido Fentanes

1.0.1 (2016-06-21)

Removing Prints from topological prediction
Printing debug info and attempt to fix eternal retry problem
adding move base as a run dependency on topological_navigation
Contributors: Jaime Pulido Fentanes

1.0.0 (2016-06-09)

adding move base as a run dependency on topological_navigation (#315)
Contributors: Jaime Pulido Fentanes

0.0.45 (2016-06-06)

removed race condition, but this really needs a better fix
Contributors: Nick Hawes

0.0.44 (2016-05-30)

Added install for new script.
Cleaned up a bit.
Added simple node to report manually provided edge predictions from a yaml file.
Adding Fremenserver monitors to topological prediction
Contributors: Jaime Pulido Fentanes, Nick Hawes

0.0.43 (2016-05-25)

Merge pull request #300 from bfalacerda/indigo-devel allowing setting of max bumper recoveries param at startup
Improving sampling for topological prediction
Merge branch 'indigo-devel' of https://github.com/strands-project/strands_navigation into indigo-devel
Changing a priori entropy
bug fix (introduced by copy paste)
Merge branch 'indigo-devel' of https://github.com/strands-project/strands_navigation into indigo-devel Conflicts: topological_navigation/scripts/localisation.py
0.0.42
updated changelogs
Removing lambda function
calling the instance does not return anything. appending to list first and the calling.
Making localise by topic wait for the topic to be published
0.0.41
updated changelogs
Adding localise_pose service which returns the node and closest node for a pose. And fixing conflicts
fixing a priory entropies and probabilities and tidy up code
Merge branch 'indigo-devel' of https://github.com/strands-project/strands_navigation into tsc-deployment
making a priory probabilities 1 and considering non fatal as successful.
Making navigation nodes respawnable
Implementing service lock for topological prediction
Added ability to load dummy maps from yaml
Monkey patching localisation by topic to wait longer between polls
Using more standard waypoint names to fit with other systems
printing messages for debugging
allowing setting of max bumper recoveries param at startup
Contributors: Bruno Lacerda, Christian Dondrup, Jaime Pulido Fentanes, Jenkins, Nick Hawes, jailander

0.0.42 (2016-03-21)

Removing lambda function
calling the instance does not return anything. appending to list first and the calling.
Making localise by topic wait for the topic to be published
Contributors: Christian Dondrup

0.0.41 (2016-03-03)

0.0.40 (2016-02-07)

prediction of traversal duration using speeds that are properly fremenised
adding policy visualisation
prediction changes
policies visualisation
Contributors: Jaime Pulido Fentanes

0.0.39 (2016-01-28)

removing annoying print
print warning when no route to node
Impossible tests now require the navigation to fail on its own accord Currently, the impossible tests, i.e., blocking the way or the final node, require that the graceful death attempt is successful, meaning that the robot is able to navigate back to start after the navigation to end failed. With this PR, a new field for the service is added, giving feedback if the navigation timed out or if it failed on its own accord. Impossible tests are therefore only passed, if the navigation failed without timing out and if graceful death was successful.
now execute policy server when it can't reach the position of the final node
If the path or final waypoint is completely blocked the test will succeed if the robot is able to fail gracefully.
Removing support for dynamic human tests. These have been postponed in simulation.
Adding more tests with humans blocking waypoints.
making sure topological navigation fails when it should
Adding description of new tests and how to create a topo map that uses the passive morse objects added to readme.
Change in test files assuming that maps always are prefixed with [mb_test]{.title-ref} and just append a number for the correct one.
- Adding obstacle nodes
- Making sure that position injection worked
- Adding untested support for dynamic human tests by playing a bag file and positioning the human correctly.
- Other minor improvements
Using new mba_test builder script for simulation to also include passive objects as obstacles.
Update README.md
Contributors: Christian Dondrup, Jaime Pulido Fentanes, Marc Hanheide

0.0.38 (2015-11-17)

Updating readme
Correcting output
Changing to degrees and unregeistering robot_pose callback when not needed.
Bugfix and adding output to screen for new control
Adding joypad control
Adding displaying of the distance in meters and radians to the actual position in the tha map after reaching the node.
fixing copy and paste error
Calli8ng services to enable freerun and reenable motors in case of bumper hit or barrier stop.
Fixing faulty wait for message for button press.
Adding missing return and using if and unless in map_dir arg due to roslaunch bugs/features
Inserting maps if map_dir is given
Making map directory for topological maps a parameter.
Adding robot specific reset function.
Dividing tests into critical and supplementary. Only critical tests are run on jenkins and supplementary tests can be run to test navigation parameters. See README.
Adding install targets for test and get_simple_policy script. Adding correct description of how to run tests in README
Undoing installing tests directory. This needs a little more thought to make it work.
Adding a readme for the navigation tests
Installing test directory
Adding argument robot to test launch file to be able to run only the essentials on the robot.
Only try to load maps from strands_morse if run in simulation. strands_morse might not be installed on the robot.
Giving tests speaking names
Exposing retries parameter for topological navigation via launch files.
Exposing execute_policy_retries via launch files
Removing unnecessary dependencies and adding some prints.
Adds the first version of the simulation only unit-test for topological_navigation/move_base.
Extending the load yaml map functionality. Now based on a class in topological navigation to prevent circular test dependencies.
Removing annoying print statement
Revert "Adding first version of topological test scenarios"
Adding install targets for test and get_simple_policy script. Adding correct description of how to run tests in README
Undoing installing tests directory. This needs a little more thought to make it work.
Adding a readme for the navigation tests
Installing test directory
Adding argument robot to test launch file to be able to run only the essentials on the robot.
Only try to load maps from strands_morse if run in simulation. strands_morse might not be installed on the robot.
Giving tests speaking names
Exposing retries parameter for topological navigation via launch files.
Exposing execute_policy_retries via launch files
Removing unnecessary dependencies and adding some prints.
Adds the first version of the simulation only unit-test for topological_navigation/move_base.
Extending the load yaml map functionality. Now based on a class in topological navigation to prevent circular test dependencies.
Removing annoying print statement
this should fix the race condition permanently
waiting for reconfigure services for 50 seconds before continuing. should avoid race condition
making number of tries a parameter
how embarrassing ...
avoiding race condition in execute policy server by waiting for topological localisation before publitising the action server
solving silly race condition
adding simple policy generation based on A*
now you can launch topological navigation with an empty map (meaning no nodes)
safety commit
adding services for adding and deleting nodes
Merge branch 'indigo-devel' of https://github.com/strands-project/strands_navigation into move-base-testing
creating move base testing branch
Various fixes and code cleaning in topological map visualiser
now the topological map name param is set by the map manager and not by navigation
Merge branch 'indigo-devel' of https://github.com/strands-project/strands_navigation into map-edition-fixes
minor fixes
Contributors: Christian Dondrup, Jaime Pulido Fentanes, Nick Hawes

0.0.37 (2015-08-26)

Fixed bug in dummy map where origin and ChargingPoint names were mixed up.
getting rid of nasty error
Fixing Visualisation of policies
creating edge_entropy service
Added window range to action message. If this is left blank in the goal the behaviour is as before
Does duration prediction based on mean of data.
Speed-based duration predictor for single edges
adding the possibility of limiting the stats used for the predictions by time range
output to screen
map drawing utilities
making sure the number of messages needed for persist is consecutive
Update README.md
including persistency check on localise by topic, and localise_anywhere is now configurable on the localise by topic string
Contributors: Jailander, Jaime Pulido Fentanes, Nick Hawes

0.0.36 (2015-05-17)

Added the wait_reset_bumper_duration to top_nav.launch
if localised by topic assume as current node no matter pose
removing speed reconfiguration in topological navigation, this is messing with the walking group speeds, there should be something smarter like in policy execution
Contributors: Jaime Pulido Fentanes, Nils Bore

0.0.35 (2015-05-10)

forcing the creation of move_base reconfigure client even when there are no move_base edges on the topological map
sorting nodes by name when calling [/topological_map_publisher/get_topological_map]{.title-ref} service
Creating Reconfigure Client only for needed actions and handling not available reconfigure clients
fix for localise by topic where localisation by topic is only verified once the robot has moved more than 10 cm away from the pose it first detected the topic on
reconfigure using move base on non-move_base type action
Adding reconfigure Client depending on edge action
reconfiguring speed and removing move_base to closest node
Contributors: Jaime Pulido Fentanes

0.0.34 (2015-05-05)

Adding boolean to tell topological navigation not to care for orientation in the final node
fixing bug with repeated edges in prediction, and adding test for this case in test top prediction
reconfiguring move_base yaw tolerance depending on next action if its move_base type to 2*PI if its none to the default node tolerance and if it is a non move_base type to 30 degrees
Contributors: Jaime Pulido Fentanes

0.0.32 (2015-04-12)

emergency behaviours launch file
updating service list when most services will be needed
Adding Emergency Behaviours
fixing action server bug
Contributors: Jaime Pulido Fentanes

0.0.31 (2015-04-10)

fixing issues tested
typo
changing prints to rospy.loggerr
Improving error handling
adding service to get tagged nodes ordered by distance and minor bug fix on topological navigation
Policy execution doesn't do move_base to the waypoint when the waypoint is localised by topic
localisation by topic only works if the robot is in the influence zone of the node, migrate script now adds JSON string for localisation on ChargingPoint
Implementing Localise By topic and No go nodes exceptions
Topological prediction now uses forecast service
Improving time estimation
returning only edge_id in topological prediction
Fixing issues with topological Prediction
second part of previous commit
checking sanity on migrate scripts
Topological navigation doesn't use nasty old Classes anymore
adding search route script
Contributors: Jaime Pulido Fentanes

0.0.29 (2015-03-23)

0.0.28 (2015-03-20)

0.0.27 (2015-03-19)

Merge branch 'indigo-devel' of https://github.com/strands-project/strands_navigation into indigo-devel Conflicts: topological_navigation/CMakeLists.txt
Adding topological map editor launch file, replacing map_publisher with map manager, adding add_node service
adding edit mode to visualise
fixing typo
sending the robot to waypoint when in the influence area of the target node
making sure robot executes action when reaching node in policy execution
Navigation and policy_executor working with new defs
bug fixes
adding Get Topological Map service
new branch created
Contributors: Bruno Lacerda, Jaime Pulido Fentanes

0.0.26 (2015-03-18)

Forgot the install targets
Contributors: Nick Hawes

0.0.25 (2015-03-18)

Renamed to .py to be consistent.
Contributors: Nick Hawes

0.0.24 (2015-03-17)

0.0.23 (2014-12-17)

0.0.22 (2014-11-26)

Got the speed more correct.
Fixing typo, also now the top loc will check for the influence area of the two closest nodes instead of just the closest
removing docking from action that are allowed so the robot navigates to closest node that now is never ChargingStation
adding ChargingPoint exception to localisation
Triying Docking when Charging station is the closest node
Fixing indentation
Bug Fix with inc variable not being set on special cases
Contributors: Nick Hawes, STRANDS user on Pablo-PC

0.0.21 (2014-11-23)

Merge branch 'hydro-devel' of https://github.com/Jailander/strands_navigation into hydro-devel
error handling when no route is possible
adding sleep to reduce cpu consumption
Contributors: Jaime Pulido Fentanes

0.0.20 (2014-11-21)

replcaing result for nav_ok
Contributors: Jaime Pulido Fentanes

0.0.19 (2014-11-21)

typo
Contributors: Jaime Pulido Fentanes

0.0.18 (2014-11-21)

bug fix
Now checking if there is a move_base action in the edges of the first node in route if not it's dangerous to move or inconvenient like in the charging station
Contributors: Jaime Pulido Fentanes

0.0.17 (2014-11-21)

catching reconfigur move_base exception
only increase the fail counter of monitored navigation if result.recovered is True and result.human_interaction is False as suggested by \@BFALacerda
fixing bug with an even longer if
Contributors: Jaime Pulido Fentanes

0.0.16 (2014-11-21)

removinf scitos_msgs from CmakeLists
making robot navigate to Way Point always when the first action is not move_base type
Added locking to service call.
removing old dependency on scitos_msgs from top nav
Contributors: Bruno Lacerda, Jaime Pulido Fentanes, Nick Hawes

0.0.15 (2014-11-19)

0.0.14 (2014-11-19)

Update README.md
Contributors: Jaime Pulido Fentanes

0.0.12 (2014-11-17)

0.0.11 (2014-11-14)

bug fix
Contributors: Jaime Pulido Fentanes

0.0.10 (2014-11-14)

replanning when failing
Adding retries to topological navigation and current edge publisher
Update README.md
Contributors: Jaime Pulido Fentanes

0.0.9 (2014-11-12)

Merge pull request #120 from BFALacerda/hydro-devel adding monitored_nav to topological_navigation.launch.
adding monitored_nav to topological_navigation.launch. default is monitored_nav without recovery behaviours
Contributors: BFALacerda, Bruno Lacerda

0.0.8 (2014-11-11)

0.0.6 (2014-11-06)

Corrected install locations.
Contributors: Nick Hawes

0.0.5 (2014-11-05)

adding joystick creation of topological map
Added dummy script to stand in for topological navigation when missing a robot or proper simulation. Useful for testing.
Adding licences and bug fix
Added launch file for test, and test passing locally.
Moved Vertex and Edge into strands_navigation_msgs. Basic test for travel_time_tester passes.
Added travel_time_estimator to standard launch file.
Merge topological_navigation and topological_map_manager packages. Added the EstimateTravelTime service to provide a clean way of getting travel times of the topological map.
Contributors: Jaime Pulido Fentanes, Nick Hawes

0.0.4 (2014-10-30)

0.0.3 (2014-10-29)

Merge pull request #94 from Jailander/hydro-devel fixing mongodb_store deps
fixing mongodb_store deps
Contributors: Jaime Pulido Fentanes, Marc Hanheide

0.0.2 (2014-10-29)

0.0.1
added changelogs
stupid me
bug fix
adding launch files to install targets
Adding install targets
Adding Missing TopologicalMap.msg and changing maintainer emails, names and Licences for Packages
Adding Execute Policy server to topological_navigation.launch
This version saves some basic navigation stats and has some additional comments important for documentation
making sure feedback is only published once per new waypoint visited
Adding comments and small debug
Moving and renaming Execute Policy Action
adding some sleeps to reduce computing load
solving current_route error
fixing abortion an shutdown
adding on shutdown actions and aborting when no edge is found
adding number of tries before aborting
other bug fix
fixing stupid typo
Making sure it navigates to the next waypoint when next action is not move_base type
back to unknown nodes at start
bug fix 3
removing request for outcome
bug fix
making the robot navigate to waypoint when next action is not move_base and it has previously failed
Making robot navigate closest edge when not at node
Navigating to closest node when finishing at none
debugging 2
printf for debugging
testing
setting as aborted when failed
Including human_aware_navigation as a move_base action on policy execution_server
Committing Execute policy server
adding sending new goals when node Iz is reached
Fixes bugs created by name changes of mongodb_store and moving packages between repositories
Merge branch 'hydro-devel' of https://github.com/strands-project/strands_navigation into hydro-devel Conflicts: topological_navigation/scripts/localisation.py topological_navigation/scripts/navigation.py
adding comment
scitos_ramp_climb is now ramp_climb
scitos_apps_msgs has been removed. All the imports were unused anyway.
Renamed ros_datacentre to mongodb_store This simply bulk replaces all ros_datacentre strings to mongodb_store strings inside files and also in file names. Needs strands-project/ros_datacentre#76 to be merged first.
bug fix
Adding add Node controller
Adapting Interactive Markers on Topological Map Manager to use the topological Map Publisher and bug fixes. WARNING: Still requires a lot of testing
Topological navigation now uses topological map publisher
adding topological map publisher and adapting localisation node to use it
adding scripts to topological utils
adding new visualization node to launch file
Merge pull request #69 from BFALacerda/hydro-devel log of monitored nav events + improvements applied during g4s deployment
Merge branch 'hydro-devel' of https://github.com/strands-project/strands_navigation into hydro-devel
Publishing edge move via goal feedback
Adding Topological_map_manager
Merge branch 'hydro-devel' of https://github.com/strands-project/strands_navigation into hydro-devel
Now action server returns cancelled when the target node is not found on the map
outputting success imediately when source and target node are the same, when the action is not a "normal" navigtion action
now it is possible to edit the influence zones from rviz
fixing orientation reconfiguration for human aware navigation
Adding machine tags to launch files
now cancelling monitored navigation when top nav is preempted
Fixing bug on topological navigation server preemption
Minor bug fix Error Message should not appear any longer
Not cancelling monitored navigation goal when topological navigation produces output on Node_to_IZ mode
Adding Node_to_IZ
printing available data too
Added Warning when 0 or more than 1 waypoints match query for updating
Small fix in topological map
Now Topological Maps are stored in the topological_map collection
Now is possible to move waypoints in Rviz using interactive marker and they will be updated on the ros_datacentre
Making move_base care for orientation when next action is not move_base and Fixing bug when PREEMPTED
Adding topological map python class and edges marker array for visualisation of the topological map in Rviz
Fixing statistics bug
Preempting topological navigation when monitored navigation is preempted
Adding pointset to _meta information for Navigation statistics
Merge pull request #32 from Jailander/hydro-devel Using Message store proxy to store statistics and Message Name Change
Merge branch 'hydro-devel' of https://github.com/strands-project/strands_navigation into hydro-devel
Commit now vertex and Edge messages are capitalised, node message was moved to strands_navigation message Using Message store proxy to store statistics
Added param broadcast for topological map name.
Topological Navigation now works using message store proxy
changing topic name
Now publishes statistics over ros topic /TopologicalNavigation/Statistics and bug fixes
Update package.xml
Update CMakeLists.txt
adding monitored navigation to topological navigation
adding node message and move base reconfigure
last changes on groovy version
Adding Topological Map field to recorded statistics
Update README.md
Added statistics logging to mongo_db
Logging Navigation statistics
Adding Localisation using polygonal influence areas
Adding Topological_Utils to repository
Update README.md
Update README.md
minor changes
Update README.md
Changes in file structure and names
Update README.md
Create README.md
reducing computational load for testing overshooting bug on Linda
Fixing bug when target and Origin Point were the same node
Adding Topological localisation
Very minor changes
adding topological navigation
Contributors: Bruno Lacerda, Christian Dondrup, Jaime Pulido Fentanes, Marc Hanheide, Nick Hawes

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_copyright
	ament_flake8
	ament_pep257
	launch_pytest
	ament_cmake
	geometry_msgs
	std_msgs
	nav_msgs
	sensor_msgs
	actionlib_msgs
	visualization_msgs
	topological_navigation_msgs
	tf_transformations

System Dependencies

Name
python3-pytest

Dependant Packages

No known dependants.

Launch files

launch/minimal_topological_navigation.launch
- - file [default: ]
  - base_frame [default: base_link]
  - move_base_name [default: move_base]
  - move_base_planner [default: move_base/DWAPlannerROS]
launch/reconf_at_edges_server.launch
- - config [default: $(find topological_navigation)/config/sample_edge_reconfig_groups.yaml]
launch/topological_map_visualise.launch
- - map
  - pointset
  - machine [default: localhost]
  - user [default: ]
launch/topological_navigation_empty_map.launch
- - map
  - machine [default: localhost]
  - user [default: ]
launch/topological_restrictions_multirobot.launch
- - robot_name
  - machine [default: localhost]
  - user [default: ]
  - config_file [default: ]
launch/topo_nav_global.launch
- - map
launch/topological_navigation.launch
- - machine [default: localhost]
  - user [default: ]
  - file [default: ]
  - cache_topological_maps [default: true]
  - auto_write_topological_maps [default: true]
  - pointset [default: ]
  - legacy [default: false]
  - convert_to_legacy [default: true]
  - load_map_from_file [default: false]
  - base_frame [default: base_link]
  - N [default: 3]
  - only_latched [default: true]
  - localisation_with_tags [default: true]
  - move_base_name [default: move_base]
  - move_base_goal [default: $(find topological_navigation)/config/move_base_goal.yaml]
  - move_base_planner [default: move_base/DWAPlannerROS]
  - move_base_actions [default: ['move_base', 'human_aware_navigation','han_adapt_speed','han_vc_corridor','han_vc_junction']]
  - max_dist_to_closest_edge [default: 1.0]
  - reconfigure_edges [default: false]
  - reconfigure_edges_srv [default: false]
  - edge_reconfigure_config [default: $(find topological_navigation/config/sample_edge_reconfig_groups.yaml]
  - use_restrictions [default: false]
  - launch_extras [default: false]
launch/topo_nav_local.launch
- - robot_id
  - move_base_planner [default: move_base/DWAPlannerROS]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `topological_navigation` at Robotics Stack Exchange

API Docs Browse Code

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