CHANGELOG

Changelog for package mrpt_tps_astar_planner_node

Merge pull request #158 from mrpt-ros-pkg/feat/parallel-planner Implement parallel A* planner; misc bug and style fixes
Fix QoS type usage
astar planner: made reentrant for serving multiple service calls in multithread
Improve readme
fix(tps_astar_planner): fix crashes, null deref, and minor log bugs - Replace ASSERT_(robot_pose_ok) with graceful error+return in both callback_goal and srv_make_plan_to, so a temporary TF outage does not abort the node or throw inside a service callback. - Add null guards before using e.grid_obstacles / e.obstacle_points in do_path_plan() and init_3d_debug() — both can be nullptr if the respective topic callback has not fired yet. - Call init_3d_debug() from do_path_plan() when gui_mrpt_ is true, so the 3D window is actually opened (was dead code). - Protect pub_costmaps_ resize and lazy publisher creation with pub_costmaps_cs_ mutex. - Fix copy-paste error: srv_make_plan_from_to catch block logged wrong function name. - Fix log format string: “topic_wp_seq_pub%s” -> “topic_wp_seq_pub: %s”. - Launch file: lowercase ‘false’ for problem_world_bbox_ignore_obstacles and astar_skip_refine boolean args (was Python-cased ‘False’).
Contributors: Jose Luis Blanco-Claraco

FIX: remove usage of obsolete ament_target_dependencies()
Merge pull request #156 from r-aguilera/ros2 mrpt_tps_astar_planner_node: improves on obstacle points update
astar_planner: limit excessive obstacle points … logging
astar_planner: prevent node from shutting down … on missing tf info
astar planner node: it will always return the best found path, even if success==false
Merge pull request #155 from r-aguilera/ros2 Fix MakePlanFromTo srv using robot pose as start
Fix MakePlanFromTo srv using robot pose as start
Contributors: Jose Luis Blanco-Claraco, Raúl Aguilera

Update demo for astar
Publish costmaps to ROS for visualization too apart of the custom MRPT GUI
Improve astar navigation demo
astar planner: add refine() step and parameter to optionally disable it
astar node: add two more launch args: problem_world_bbox_margin and problem_world_bbox_ignore_obstacles
astar params: add more comments and tune for speed
PTGs .ini: Add docs on how to enable backward motions
Contributors: Jose Luis Blanco-Claraco

Remove temporary workaround in <depends> for buggy mrpt_libros_bridge package.xml
Fix duplicated deps
update dependencies
Depend on new mrpt_lib packages (deprecate mrpt2)
Contributors: Jose Luis Blanco-Claraco
Remove temporary workaround in <depends> for buggy mrpt_libros_bridge package.xml
Fix duplicated deps
update dependencies
Depend on new mrpt_lib packages (deprecate mrpt2)
Contributors: Jose Luis Blanco-Claraco

Merge pull request #147 from r-aguilera/ros2 mrpt_tps_astar_planner_node tf data availability
added max duration to wait for tf data
Merge pull request #146 from r-aguilera/ros2 parameterized astar plan waypoints fields
Merge pull request #145 from mrpt-ros-pkg/ros2_astar add WaypointSequence missing header
Implement two services for making navigation plans; code clean up; delete “replan” topic
FIX: transform point cloud observations
add frame_id params
reset planner obstacles between path plans
Add param to create subscribers with map-like QoS
Enable multiple obstacle sources (grids and points)
delete old ros1 files
Merge pull request #144 from mrpt-ros-pkg/wip/port-tps-astar Port TPS A* planner to ROS2
Contributors: Jose Luis Blanco-Claraco, Raúl Aguilera, SRai22