Merge branch 'master' of gitlab.uni-koblenz.de:robbie/homer_mapping into recent_changes

README.md

+## homer_mapping (kinetic) - 0.1.20-0
+
+The packages in the `homer_mapping` repository were released into the `kinetic` distro by running `/usr/bin/bloom-release --rosdistro kinetic --track kinetic homer_mapping` on `Fri, 10 Mar 2017 16:53:47 -0000`
+
+These packages were released:
+- `homer_map_manager`
+- `homer_mapnav_msgs`
+- `homer_mapping`
+- `homer_nav_libs`
+- `homer_navigation`
+
+Version of package(s) in repository `homer_mapping`:
+
+- upstream repository: git@gitlab.uni-koblenz.de:robbie/homer_mapping.git
+- release repository: git@gitlab.uni-koblenz.de:robbie/homer_mapping.git
+- rosdistro version: `0.1.19-0`
+- old version: `0.1.19-0`
+- new version: `0.1.20-0`
+
+Versions of tools used:
+
+- bloom version: `0.5.23`
+- catkin_pkg version: `0.2.10`
+- rosdep version: `0.11.5`
+- rosdistro version: `0.5.0`
+- vcstools version: `0.1.39`
+
+
+## homer_mapping (kinetic) - 0.1.19-0
+
+The packages in the `homer_mapping` repository were released into the `kinetic` distro by running `/usr/bin/bloom-release --rosdistro kinetic --track kinetic homer_mapping` on `Thu, 02 Mar 2017 15:51:11 -0000`
+
+These packages were released:
+- `homer_map_manager`
+- `homer_mapnav_msgs`
+- `homer_mapping`
+- `homer_nav_libs`
+- `homer_navigation`
+
+Version of package(s) in repository `homer_mapping`:
+
+- upstream repository: git@gitlab.uni-koblenz.de:robbie/homer_mapping.git
+- release repository: git@gitlab.uni-koblenz.de:robbie/homer_mapping.git
+- rosdistro version: `0.1.18-0`
+- old version: `0.1.18-0`
+- new version: `0.1.19-0`
+
+Versions of tools used:
+
+- bloom version: `0.5.24`
+- catkin_pkg version: `0.3.1`
+- rosdep version: `0.11.5`
+- rosdistro version: `0.6.1`
+- vcstools version: `0.1.39`
+
+
 ## homer_mapping (kinetic) - 0.1.18-0
 
 The packages in the `homer_mapping` repository were released into the `kinetic` distro by running `/usr/bin/bloom-release --rosdistro kinetic --track kinetic homer_mapping` on `Tue, 28 Feb 2017 15:53:51 -0000`

homer_map_manager/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package homer_map_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.1.19 (2017-03-02)
+-------------------
+
 0.1.18 (2017-02-28)
 -------------------
 

homer_map_manager/package.xml

 <package>
   <name>homer_map_manager</name>
-  <version>0.1.18</version>
+  <version>0.1.20</version>
   <description>
      map_manager
   </description>

homer_mapnav_msgs/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package homer_mapnav_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.1.19 (2017-03-02)
+-------------------
+
 0.1.18 (2017-02-28)
 -------------------
 * reworked ignore laser and obstacle position feedback

homer_mapnav_msgs/package.xml

 <package>
   <name>homer_mapnav_msgs</name>
-  <version>0.1.18</version>
+  <version>0.1.20</version>
   <description> homer_mapnav_msgs contains the messages used for mapping and navigation
   </description>
   <maintainer email="fpolster@uni-koblenz.de">Florian Polster</maintainer>

homer_mapping/CHANGELOG.rst

@@ -2,6 +2,13 @@
 Changelog for package homer_mapping
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.1.19 (2017-03-02)
+-------------------
+* enable smaller moves to be able to use higher odometry rates
+* no ros.spin spinOnce instead
+* use the loop_rate
+* Contributors: Florian Polster, Lisa
+
 0.1.18 (2017-02-28)
 -------------------
 

homer_mapping/package.xml

 <package>
   <name>homer_mapping</name>
-  <version>0.1.18</version>
+  <version>0.1.20</version>
   <description>
 
      homer_mapping

homer_nav_libs/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package homer_nav_libs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.1.19 (2017-03-02)
+-------------------
+
 0.1.18 (2017-02-28)
 -------------------
 

homer_nav_libs/package.xml

 <?xml version="1.0"?>
 <package>
   <name>homer_nav_libs</name>
-  <version>0.1.18</version>
+  <version>0.1.20</version>
   <description>The nav_libs package</description>
 
   <maintainer email="fpolster@uni-koblenz.de">Florian Polster</maintainer>

homer_navigation/CHANGELOG.rst

@@ -2,6 +2,13 @@
 Changelog for package homer_navigation
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.1.19 (2017-03-02)
+-------------------
+* maskMap disabled because not functional at the moment
+* no seperate laserCallback
+* give position information of obstacle in target unreachable message
+* Contributors: Florian Polster, Lisa
+
 0.1.18 (2017-02-28)
 -------------------
 * reworked ignore laser and obstacle position feedback

homer_navigation/package.xml

 <?xml version="1.0"?>
 <package>
   <name>homer_navigation</name>
-  <version>0.1.18</version>
+  <version>0.1.20</version>
   <description>The homer_navigation package</description>
 
   <maintainer email="fpolster@uni-koblenz.de">Florian Polster</maintainer>

homer_navigation/src/homer_navigation_node.cpp

@@ -84,10 +84,6 @@ void HomerNavigationNode::loadParameters() {
                       (double)1.2);
     ros::param::param("/homer_navigation/waypoint_sampling_threshold",
                       m_waypoint_sampling_threshold, (float)1.5);
-    m_AllowedObstacleDistance.first;
-    m_AllowedObstacleDistance.second;
-    m_SafeObstacleDistance.first;
-    m_SafeObstacleDistance.second;
 
     // check path
     ros::param::param("/homer_navigation/check_path", m_check_path, (bool)true);
@@ -235,7 +231,8 @@ void HomerNavigationNode::setExplorerMap() {
         }
     }
     if (m_fast_path_planning) {
-        maskMap(temp_map);
+        //TODO check why not functional
+        //maskMap(temp_map);
     }
     m_explorer->setOccupancyMap(
         boost::make_shared<nav_msgs::OccupancyGrid>(temp_map));
@@ -515,6 +512,7 @@ void HomerNavigationNode::performNextMove() {
                 m_seen_obstacle_before = true;
             } else {
                 m_seen_obstacle_before = false;
+                m_obstacle_on_path = false;
             }
         }
 
@@ -721,8 +719,8 @@ void HomerNavigationNode::performNextMove() {
     } else if (m_MainMachine.state() == AVOIDING_COLLISION) {
         if (isTargetPositionReached()) {
             return;
-        } else if (m_max_move_distance <= m_collision_distance &&
-                       m_waypoints.size() > 1 ||
+        } else if ((m_max_move_distance <= m_collision_distance &&
+                    m_waypoints.size() > 1) ||
                    m_max_move_distance <= m_collision_distance_near_target) {
             ROS_WARN_STREAM("Maximum driving distance too short ("
                             << m_max_move_distance << "m)! Moving back.");
@@ -1025,6 +1023,7 @@ float HomerNavigationNode::minTurnAngle(float angle1, float angle2) {
 
 void HomerNavigationNode::refreshParamsCallback(
     const std_msgs::Empty::ConstPtr& msg) {
+    (void) msg;
     ROS_INFO_STREAM("Refreshing Parameters");
     loadParameters();
 }
@@ -1062,10 +1061,10 @@ void HomerNavigationNode::calcMaxMoveDist() {
     for (auto d : m_max_move_distances) {
         m_max_move_distance = std::min(m_max_move_distance, d.second);
     }
-    if (m_max_move_distance <= m_collision_distance &&
-            std::fabs(m_act_speed) > 0.1 && m_waypoints.size() > 1 ||
-        m_max_move_distance <= m_collision_distance_near_target &&
-            std::fabs(m_act_speed) > 0.1 && m_waypoints.size() == 1 ||
+    if ((m_max_move_distance <= m_collision_distance &&
+         std::fabs(m_act_speed) > 0.1 && m_waypoints.size() > 1) ||
+        (m_max_move_distance <= m_collision_distance_near_target &&
+         std::fabs(m_act_speed) > 0.1 && m_waypoints.size() == 1) ||
         m_max_move_distance <= 0.1) {
         if (m_MainMachine.state() == FOLLOWING_PATH) {
             stopRobot();
@@ -1225,6 +1224,7 @@ void HomerNavigationNode::navigateToPOICallback(
 
 void HomerNavigationNode::stopNavigationCallback(
     const std_msgs::Empty::ConstPtr& msg) {
+    (void) msg;
     ROS_INFO_STREAM("Stopping navigation.");
     m_MainMachine.setState(IDLE);
     stopRobot();

tracks.yaml

@@ -13,7 +13,7 @@ tracks:
     - git-bloom-generate -y rosrpm --prefix release/:{ros_distro} :{ros_distro} -i
       :{release_inc}
     devel_branch: master
-    last_version: 0.1.18
+    last_version: 0.1.20
     name: upstream
     patches: null
     release_inc: '0'