Changelog for package mbf_abstract_nav

0.4.0 (2021-10-26)

Fixes planner execution API compatibility, see #279 and https://github.com/uos/mesh_navigation/issues/18
return empty footprint if partly outside of the map, see #272
Allow the controller to handle cancel if properly implemented, see #274
Do not reset cancel_, as that will invalidate ongoing canceling
Run replanning in its own thread, fixes #223, see #267
enable max retries logic for controller execution test, see #264
fix controller termination, see #263
abstract controller execution unit tests, see #261
planner action unit tests, see #244
Fix number of retries check, see #262
transform pose to global frame before calling planner in costmap planner execution, see #256
Use ROS rates for sleeping to support simulation time, see #257
wait for timeout in abstract eecution base, since cancel call could be missed, see #255
add unit test for the abstract execution base, see #249
fix race-condition in the test, see #254
AbstractPlannerExecution refactoring and unit tests, see #237
add documentation, missing includes, joinable check, and fixup and test the abstract_action_base

On move_base action, handle properly RECALLED, REJECTED and LOST status, see #228
Fill recovery result field used_plugin, see #229
Signal from setState function, see #236
Controller fails if robot pose gets older than tf_timeout, see #231
Send move_base result when canceled during exe_path and recovery, see #218
On controller cancel, wait for the control loop to stop, see #215
Ensure MBF does not crash upon receiving an empty path, see #214
Make robot_info a reference to keep one single instance, see #204
mbf_abstract_nav action event logging from INFO to DEBUG, see #203
Fix deallocation on shutdown by discarding all plugins and resetting action server pointers, see #199
Move RobotInformation to mbf_utility, as it can be used generaly, see #196

Avoid duplicated warn logging output when we cannot cancel a plugin
Remove unused methods and attributes from AbstractNavigationServer, which are already present at other places
Reuse execution slots; cleanup only at destruction
Enable different goal tolerance values for each action

Clean up patience exceeded method
Add last valid cmd time as class variable
Add started state and improve output messages
Unify license declaration to BSD-3
Add parameter force_stop_on_cancel to send a zero-speed command on cancelation (default: true)
remove explicit boost-exception dependency, Boost >= 1.69 provides exception by default.
Allow the user time-consuming cancel implementations
Rename abstract_action.h as abstract_action_base.hpp
Remane robot_Information.cpp as robot_information.cpp
Unify headers definitions and namespace intentation
Add parameter to actively stop once the goal is reached
Exit immediately from action done callbacks when action_state is CANCELED

Update goal pose on replanning, so the feedback remains consistent
Fix: Reset oscillation timer after executing a recovery behavior
Remove debug log messages
Do not pass boost functions to abstract server to (de)activate costmaps. Run instead abstract methods (possibly) overridden in the costmap server, all costmap-related handling refactored to a new CostmapWrapper class
On controller execution, check that local costmap is current
On move_base action, use MoveBaseResult constant to fill outcome in case of oscilation

Reduce log verbosity by combining lines and using more DEBUG
Concurrency container refactoring
Prevent LOST goals when replanning
Set as canceled, when goals are preempted by a new plan
move setAccepted to abstract action
moved listener notification down after setVelocity
fix: Correctly fill in the ExePathResult fields
Fix controller_patience when controller_max_retries is -1
Change current_twist for last_cmd_vel on exe_path/feedback
Replace recursive mutexes with normal ones when not needed
Give feedback with outcome and message for success and error cases from the plugin.