Changelog for package footstep_planner

0.4.2 (2018-04-19)

• refacotoring to release on kinetic
• added documents related to footstep_planner packages
• added information new maintainer
• fixed CMakeLists.txt and package.xml files for dependency
• fixed footstep_planner node crashes when map changesth
• Contributors: Aleksey Titov, Kayman, Pyo

0.4.1 (2016-09-05)

• Added include files for footstep_planner and gridmap_2d for install.
• uses double 2.0 and makes style locally consistent
• catkinize the stack
• Add service to (re)plan between feet as start and goal.
• Requires newest humanoid_msgs.
• Merge plan and replan functions
• RViz launch file / config Groovy
• mark heuristic as expired when map is updated
• removed code in the destructor that gets already cleaned up in the super class
• use pre-increment instead of post-increment (faster + post-increment for iterators not always optimizable)
• fixed sbpl exception catch
• introduced new functionality to totally reset the planning environment
• storing environment params in new struct -- get rid of unnecessary member variables
• more detailed information when sbpl planning was successful but only the old path is returned
• wait 0.5 sec before updating the start (robot) pose
• bug fix in path cost heuristic
• make footsteps smaller; + std::max
• handle receiving of foot transformations differently
• implemented the polygon-intersection-check for the navigation as well; not used so far due to some usability issues
• bug resolved: free the execution log when planning failed; use ros::Time(0) instead of ros::Time::now() since when using the latter sometimes the tf cannot be received (now sometimes an outdated step is received but this works better anyhow)
• bug resulting in segfaulting thread now (probably) resolved
• replaced old reachable check by a new more smoother grid based approach
• small fix in the replanning logic
• enforce planning from scratch when necessary (e.g. goal changed when using backward planning)
• added assertion to enforce correct heuristic calculation
• applied ROS code style
• reorganized the way FootstepNavigation invokes the planner and starts the execution; changed FootstepPlanner::updateMap
• Contributors: Armin Hornung, Johannes Garimort, Pramuditha Aravinda, Vincent Rabaud, enriquefernandez

0.4.0 (2013-01-10)

• Updated stack.xml & CMakeLists, new version 0.4.0 to release
• adjusted robot translation in z dir
• footstep execution now aborted when map changes + replanning and new execution is started; again use ALL calculated steps when extracting the path
• Changes in R* launch file params
• using only the new launch file from pkg nao_driver
• Fixed odometry lookup error (wrong frame)
• Indenting / code style according to ROS style
• fixed SBPL in CMakeListe for custom-installed location
• fixed out of map check in R*
• cleanup of R* code
• manifest/CMakeLists now compatible with fuerte and electric compilation, includes should work better now
• integrated the new footstep set
• fix: spelling error (don't forget to update nao_driver and humanoid_nav_msgs)
• navigation parameters in extra config file; using new launch file in nao_driver
• handle situations where both start feet are part of the calculated solution
• method rearrangement in the navigation
• got rid of get_footstep in helper
• added test to check whether all footsteps can be performed by the NAO robot; adjusted invalid footstep
• now able to switch between protective and fast footstep execution via the 'protective_execution' param + various smaller changes
• Finished fluid footstep execution for the NAO; has still to be tested for simulation/real robot
• added footstep_planner_walls to read in separate wall map (larger clearing)
• expanded states is now a hash map on x,y => vis.better in RVIZ, only one expanded state per (x,y)
• heuristic_scale parameter to increase under-estimating heuristics
• GetSuccsTo for improved R* functionality
• nao_path_follower now accepts paths
• Fixed PathCostHeuristic for non-square maps
• reaching right goal foot faster, only left goal state absorbs now.
• also show expanded states when failing; R* optimized (exact ==)
• PathCostHeuristic is now inflated by foot incircle
• Contributors: Armin Hornung, Daniel Maier, Johannes Garimort

0.3.1 (2012-06-15)

• preparing for fuerte release and sbpl package
• replanning based on old planning info in cases of a changed map disabled for now (instead: complete new planning in such a case)
• approx. comparison for R*
• footstep-feedback synchronization now handled in the action client (in FootstepNavigation.cpp)
• cost calculation directly based on the discrete planning states
• during the planning the reachability check is now based on the discrete position and orientation of the state (planning speed up)
• temp. simplification of the path cost heuristic calculation
• temp simplification of heuristic calculation
• code cleanup
• updated RViz config, launch file for R*
• slightly expanded large footstep set
• Contributors: Armin Hornung, Johannes Garimort

0.3.0 (2012-05-29)

• changed default planning params: 1cm res, PathCostHeuristic
• synchronized with footstep action server
• PathCostHeuristic fixed
• added fake localization launch file
• documentation update
• got rid of FootstepPlannerEnvironment::setUp - this is now done in the resp. updateGoal/updateStart-method (this makes it possible to reduce FootstepPlanner::run to its actual functionality)
• Removed ANAPlanner (testing, requires newer SBPL)
• Functions (stubs) added for R*
• changed names of the robot feet (according to ROS standards); integrate actionlib to perform footsteps
• corrected foot box for the nao robot
• corrected footsteps (w.r.t the new step model and the old footstep sets)
• footstep navigation debug and footstep execution debug update
• some bugs affecting footstep execution fixed
• footstep execution now completely discrete
• new function for lengths (to distinct between grid cell discretization and length discretization; footstep calculation fully based on discrete footsteps (can be further optimized by calculating reverse footstep on the fly)
• update of start pose in own function: used before planning and replanning
• bugfix: set gready footstep
• map callback subscription
• add missing goal pose callback subscription
• footstep robot navigation integration finished
• replaced double-ptr returns with references in get_footstep() / getFootstep()
• Added execution functions from old footstep planner code to FootstepNavigation
• FootstepNavigation stub added
• Contributors: Armin Hornung, Johannes Garimort

0.2.0 (2011-11-28)

• automatic replanning after map change
• reset planner when to many states changed after map change
• 2nd changed sample map added
• inserted stubs for R* env. functions.
• using old information in replanning after map change
• fixed invalid states appearing on border of map during expansion
• fixed corner cases for angles heuristic
• added foundation for map change detection
• get rid of last continuous planning state variable
• orientation cost
• fix on path cost heuristic and the recalculation w.r.t correct search direction
• path cost heuristic implementation finished
• footstep_planner now uses SBPL instead of D* lite, enabling ARA* and AD* for search with anytime capabilities
• Moved the PlanFootsteps service into humanoid_nav_msgs
• Contributors: Armin Hornung, Johannes Garimort

0.1.0 (2011-05-03)

• more maps added, adjusted launch files
• Added call to clear previous visualization
• Display of planning time in Dstar
• added Python node to plan from the command line
• added "PlanFootstep" service to FootstepPlanner
• added override for default marker namespace
• method to initiate heuristic values update from outside
• documentation
• private namespace for vis msgs
• A* heuristic implemented and integrated
• enhancements:
  • cleanup of param files
  • State, Footstep, Dstar classes separated
  • Got rid of rounding => huge speedup in planner
  • Better results with subgoal_distance=0.2
  • added Heuristic path visualization
  • helper functions inlined
  • replaced constants with step constants
  • access to Dstar path properties in FootstepPlanner
  • getPathCosts, getNumExpandedStates, getNumFootsteps added to receive planning information
• fixes:
  • fixed heuristic update after goal update in Dstar
  • fixed foot width for Astar heuristic
• Contributors: Armin Hornung, Johannes Garimort