Mppi goal to critic

[redvinaa]

Reopen #4812 against main

[mergify]

@redvinaa, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

[SteveMacenski]

@redvinaa before you ask, no this CI failure is also not from you. Geometry2 just changed a bunch of headers from .h to .hpp and the Rolling release with those changes came out last night. #4732 resolves, but need to merge that in and you'll need to pull in those changes or rebase. Then any CI failures are real 😆

[SteveMacenski]

Rebase with #4823 for CI

[SteveMacenski]

This breaks a MPPI unit test - please make sure that this works properly. You may need to broadcast a transformation in that test so that the getTransformedGoal method can function. Likewise in your other PR.

Otherwise, LGTM

[mergify]

@redvinaa, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

[SteveMacenski]

Waiting on CI to turn over - sorry you've hit landmine after landmine in our usually very stable CI. I'm not sure why circle's not cloning but its not your fault. I'm asking our CI guru to investigate :-)

[mergify]

@redvinaa, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

[ruffsl]

Cloning git repository - git@github.com:ros-navigation/navigation2.git
Cloning into '.'...
git@github.com: Permission denied (publickey).
fatal: Could not read from remote repository.

Please make sure you have the correct access rights
and the repository exists.
error running git clone "git@github.com:ros-navigation/navigation2.git": exit status 128

Hmm, it failed to even clone the repo. That is strange...

Looks like the CircleCI Deploy key got deleted from GitHub for this GitHub repo.
Did anyone purge this repo's Deploy keys

• https://github.com/ros-navigation/navigation2/settings/keys

Seems to be cloning the repo just fine now after re-adding a new deploy key!

• https://app.circleci.com/pipelines/github/ros-navigation/navigation2/13343/workflows/4d64d956-d331-4d19-9704-675b22292a11/jobs/39973

[SteveMacenski]

@redvinaa you have a test failing:

/opt/overlay_ws/src/navigation2/nav2_mppi_controller/test/controller_state_transition_test.cpp:67
Expected: controller->computeVelocityCommands(pose, velocity, {}) doesn't throw an exception.
  Actual: it throws nav2_core::ControllerTFError with description "Unable to transform goal pose into costmap frame".

/opt/overlay_ws/src/navigation2/nav2_mppi_controller/test/controller_state_transition_test.cpp:67
Expected: controller->computeVelocityCommands(pose, velocity, {}) doesn't throw an exception.
  Actual: it throws nav2_core::ControllerTFError with description "Unable to transform goal pose into costmap frame".

[redvinaa]

I'm not sure what's the best way to go here, because the dummy path is generated with "odom" frame, while the costmap is in "map" frame. @SteveMacenski if you have a better solution than mine, do tell me.

The test now fails because of docking. :D Could you maybe rerun it? It passed on my machine on humble.

[SteveMacenski]

I'm not sure what's the best way to go here, because the dummy path is generated with "odom" frame, while the costmap is in "map" frame. @SteveMacenski if you have a better solution than mine, do tell me.

Fine by me - that test is a really basic exercising of the lifecycle and functions to make sure it can come up, do work, and shut down cleanly. Its not really doing any "work" in that test and each method have their own extensive test cases below.

The test now fails because of docking. :D Could you maybe rerun it? It passed on my machine on humble.

Something's going on with that test right now, not your fault. Merging! Thanks for the great contribution, as always 😄