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costmap_3d: avoid unnecessary grid expansions #726

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merged 8 commits into from
Nov 1, 2023

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nhatao
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@nhatao nhatao commented Oct 27, 2023

Screenshot from 2023-10-31 18-11-30

Assume that there are 3 consecutive occupied grid cells on an OccupancyGrid, and costmap_3d expands these cells.
The black cells in the diagram above are the occupied cells, and the yellow, green, and red cells are expanded cells.
The nearest occupied cell from the yellow cells is the left one, the nearest occupied cell from the green cells is the center one, and the nearest occupied cell from the red cell is the right one. Therefore, the expansion process for the left cell should be performed on the yellow cells, the process for the center cell on the green cells, and the process for the right cell on the red cells respectively.
By this PR, the expansion ranges are limited when adjacent cells have the same or larger costs than the expanding cell. Since occupied cells on the occupancy grid map are rarely isolated, this algorithm can speed up the expansion process. Note that this algorithm is effective only when the costmap and the OccupancyGrid have the same resolution.

The calculation time of Costmap3dLayerFootprint::updateCSpace() on my laptop (Map size: 4.5K x 2.4K x 16, the number of occupied cells: 188K)
Master branch: 5.118 seconds
This PR: 0.335 seconds

@nhatao nhatao marked this pull request as draft October 27, 2023 11:53
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codecov-commenter commented Oct 27, 2023

Codecov Report

Merging #726 (c3e88be) into master (e632876) will decrease coverage by 0.37%.
The diff coverage is 100.00%.

@@            Coverage Diff             @@
##           master     #726      +/-   ##
==========================================
- Coverage   88.98%   88.62%   -0.37%     
==========================================
  Files          62       62              
  Lines        4584     4596      +12     
==========================================
- Hits         4079     4073       -6     
- Misses        505      523      +18     
Files Coverage Δ
...nclude/costmap_cspace/costmap_3d_layer/footprint.h 88.88% <100.00%> (+0.94%) ⬆️

... and 3 files with indirect coverage changes

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@nhatao nhatao marked this pull request as ready for review October 31, 2023 09:42
@nhatao nhatao requested a review from at-wat October 31, 2023 10:08
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const int gx = pos % msg->info.width;
const int gy = pos / msg->info.width;
uint8_t mask = 0;
if (gx == 0 || (msg->data[pos - 1] >= msg->data[pos]))
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msg->data[pos] can be stored locally to be reused

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The pointer of the cell is resued.
const int8_t* const ptr = msg->data.data() + pos;

Comment on lines 307 to 323
if (gx == 0 || (msg->data[pos - 1] >= msg->data[pos]))
{
mask += 1;
}
if (gx == static_cast<int>(msg->info.width) - 1 || (msg->data[pos + 1] >= msg->data[pos]))
{
mask += 2;
}
if (gy == 0 || (msg->data[pos - msg->info.width] >= msg->data[pos]))
{
mask += 4;
}
if (gy == static_cast<int>(msg->info.height) - 1 || (msg->data[pos + msg->info.width] >= msg->data[pos]))
{
mask += 8;
}
return template_ranges_[mask];
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As here are all conditions for template generation to calculate the template index, directly generating Rect here would reduce heap memory access without performance degradation

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@nhatao nhatao requested a review from at-wat November 1, 2023 09:06
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at-wat commented Nov 1, 2023

[535] PASSED on noetic

All tests passed
build/test_results/costmap_cspace/gtest-test_costmap_3d.xml: 24 tests
build/test_results/costmap_cspace/gtest-test_pointcloud_accumulator.xml: 4 tests
build/test_results/costmap_cspace/roslint-costmap_cspace.xml: 1 tests
build/test_results/joystick_interrupt/roslint-joystick_interrupt.xml: 1 tests
build/test_results/joystick_interrupt/rostest-test_test_joystick_interrupt_rostest.xml: 1 tests
build/test_results/joystick_interrupt/rosunit-test_joystick_interrupt.xml: 12 tests
build/test_results/map_organizer/roslint-map_organizer.xml: 1 tests
build/test_results/map_organizer/rostest-test_test_map_organizer_rostest.xml: 1 tests
build/test_results/map_organizer/rostest-test_test_pointcloud_to_maps_rostest.xml: 1 tests
build/test_results/map_organizer/rosunit-test_map_organizer.xml: 8 tests
build/test_results/map_organizer/rosunit-test_pointcloud_to_maps.xml: 2 tests
build/test_results/neonavigation_common/roslint-neonavigation_common.xml: 1 tests
build/test_results/neonavigation_common/rostest-test_test_compat_rostest.xml: 1 tests
build/test_results/neonavigation_common/rosunit-test_compat.xml: 6 tests
build/test_results/neonavigation_metrics_msgs/gtest-test_helper.xml: 4 tests
build/test_results/neonavigation_metrics_msgs/roslint-neonavigation_metrics_msgs.xml: 1 tests
build/test_results/obj_to_pointcloud/roslint-obj_to_pointcloud.xml: 1 tests
build/test_results/obj_to_pointcloud/rostest-test_test_obj_to_pointcloud_rostest.xml: 1 tests
build/test_results/obj_to_pointcloud/rosunit-test_obj_to_pointcloud.xml: 2 tests
build/test_results/planner_cspace/gtest-test_blockmem_gridmap.xml: 10 tests
build/test_results/planner_cspace/gtest-test_costmap_bbf.xml: 4 tests
build/test_results/planner_cspace/gtest-test_cyclic_vec.xml: 14 tests
build/test_results/planner_cspace/gtest-test_distance_map.xml: 18 tests
build/test_results/planner_cspace/gtest-test_distance_map_fast_update.xml: 4 tests
build/test_results/planner_cspace/gtest-test_grid_astar.xml: 12 tests
build/test_results/planner_cspace/gtest-test_grid_metric_converter.xml: 4 tests
build/test_results/planner_cspace/gtest-test_motion_cache.xml: 2 tests
build/test_results/planner_cspace/gtest-test_motion_primitive_builder.xml: 2 tests
build/test_results/planner_cspace/gtest-test_path_interpolator.xml: 4 tests
build/test_results/planner_cspace/gtest-test_planner_3d_cost.xml: 2 tests
build/test_results/planner_cspace/gtest-test_start_pose_predictor.xml: 6 tests
build/test_results/planner_cspace/roslint-planner_cspace.xml: 1 tests
build/test_results/planner_cspace/rostest-navigation_rostest__antialias_start_true.xml: 1 tests
build/test_results/planner_cspace/rostest-navigation_rostest__antialias_start_true__fast_map_update_true.xml: 1 tests
build/test_results/planner_cspace/rostest-navigation_rostest__with_tolerance_true.xml: 1 tests
build/test_results/planner_cspace/rostest-test_test_abort_rostest.xml: 1 tests
build/test_results/planner_cspace/rostest-test_test_costmap_watchdog_rostest.xml: 1 tests
build/test_results/planner_cspace/rostest-test_test_debug_outputs_rostest.xml: 1 tests
build/test_results/planner_cspace/rostest-test_test_dynamic_parameter_change_rostest.xml: 1 tests
build/test_results/planner_cspace/rostest-test_test_navigation_boundary_rostest.xml: 1 tests
build/test_results/planner_cspace/rostest-test_test_navigation_compat_rostest.xml: 1 tests
build/test_results/planner_cspace/rostest-test_test_navigation_rostest.xml: 1 tests
build/test_results/planner_cspace/rostest-test_test_planner_2dof_serial_joints_rostest.xml: 1 tests
build/test_results/planner_cspace/rostest-test_test_planner_3d_map_size_rostest.xml: 1 tests
build/test_results/planner_cspace/rostest-test_test_preempt_rostest.xml: 1 tests
build/test_results/planner_cspace/rostest-test_test_tolerant_action_rostest.xml: 1 tests
build/test_results/planner_cspace/rosunit-test_abort.xml: 2 tests
build/test_results/planner_cspace/rosunit-test_costmap_watchdog.xml: 4 tests
build/test_results/planner_cspace/rosunit-test_debug_outputs.xml: 8 tests
build/test_results/planner_cspace/rosunit-test_dynamic_parameter_change.xml: 4 tests
build/test_results/planner_cspace/rosunit-test_navigate.xml: 12 tests
build/test_results/planner_cspace/rosunit-test_navigate_boundary.xml: 2 tests
build/test_results/planner_cspace/rosunit-test_planner_2dof_serial_joints.xml: 4 tests
build/test_results/planner_cspace/rosunit-test_planner_3d_map_size.xml: 12 tests
build/test_results/planner_cspace/rosunit-test_preempt.xml: 2 tests
build/test_results/planner_cspace/rosunit-test_tolerant_action.xml: 2 tests
build/test_results/safety_limiter/roslint-safety_limiter.xml: 1 tests
build/test_results/safety_limiter/rostest-test_test_safety_limiter2_rostest.xml: 1 tests
build/test_results/safety_limiter/rostest-test_test_safety_limiter_compat_rostest.xml: 1 tests
build/test_results/safety_limiter/rostest-test_test_safety_limiter_rostest.xml: 1 tests
build/test_results/safety_limiter/rosunit-test_safety_limiter.xml: 22 tests
build/test_results/safety_limiter/rosunit-test_safety_limiter2.xml: 2 tests
build/test_results/track_odometry/gtest-test_tf_projection.xml: 2 tests
build/test_results/track_odometry/roslint-track_odometry.xml: 1 tests
build/test_results/track_odometry/rostest-test_test_tf_projection_rostest.xml: 1 tests
build/test_results/track_odometry/rostest-test_test_track_odometry_rostest.xml: 1 tests
build/test_results/track_odometry/rosunit-test_tf_projection_node.xml: 8 tests
build/test_results/track_odometry/rosunit-test_track_odometry.xml: 10 tests
build/test_results/trajectory_tracker/gtest-test_trajectory_tracker_filter.xml: 6 tests
build/test_results/trajectory_tracker/gtest-test_trajectory_tracker_path2d.xml: 18 tests
build/test_results/trajectory_tracker/roslint-trajectory_tracker.xml: 1 tests
build/test_results/trajectory_tracker/rostest-test_test_trajectory_recorder_rostest.xml: 1 tests
build/test_results/trajectory_tracker/rostest-test_test_trajectory_tracker_overshoot_rostest.xml: 1 tests
build/test_results/trajectory_tracker/rostest-test_test_trajectory_tracker_rostest.xml: 1 tests
build/test_results/trajectory_tracker/rostest-test_test_trajectory_tracker_with_odom_rostest.xml: 1 tests
build/test_results/trajectory_tracker/rostest-trajectory_tracker_rostest__odom_delay_0.xml: 1 tests
build/test_results/trajectory_tracker/rosunit-test_trajectory_recorder.xml: 2 tests
build/test_results/trajectory_tracker/rosunit-test_trajectory_tracker.xml: 16 tests
build/test_results/trajectory_tracker/rosunit-test_trajectory_tracker_overshoot.xml: 12 tests
build/test_results/trajectory_tracker/rosunit-test_trajectory_tracker_with_odom.xml: 4 tests
build/test_results/trajectory_tracker_msgs/gtest-test_path_with_velocity_conversion.xml: 4 tests
build/test_results/trajectory_tracker_msgs/roslint-trajectory_tracker_msgs.xml: 1 tests
Summary: 342 tests, 0 errors, 0 failures, 0 skipped

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at-wat commented Nov 1, 2023

[536] PASSED on noetic

All tests passed
build/test_results/costmap_cspace/gtest-test_costmap_3d.xml: 24 tests
build/test_results/costmap_cspace/gtest-test_pointcloud_accumulator.xml: 4 tests
build/test_results/costmap_cspace/roslint-costmap_cspace.xml: 1 tests
build/test_results/joystick_interrupt/roslint-joystick_interrupt.xml: 1 tests
build/test_results/joystick_interrupt/rostest-test_test_joystick_interrupt_rostest.xml: 1 tests
build/test_results/joystick_interrupt/rosunit-test_joystick_interrupt.xml: 12 tests
build/test_results/map_organizer/roslint-map_organizer.xml: 1 tests
build/test_results/map_organizer/rostest-test_test_map_organizer_rostest.xml: 1 tests
build/test_results/map_organizer/rostest-test_test_pointcloud_to_maps_rostest.xml: 1 tests
build/test_results/map_organizer/rosunit-test_map_organizer.xml: 8 tests
build/test_results/map_organizer/rosunit-test_pointcloud_to_maps.xml: 2 tests
build/test_results/neonavigation_common/roslint-neonavigation_common.xml: 1 tests
build/test_results/neonavigation_common/rostest-test_test_compat_rostest.xml: 1 tests
build/test_results/neonavigation_common/rosunit-test_compat.xml: 6 tests
build/test_results/neonavigation_metrics_msgs/gtest-test_helper.xml: 4 tests
build/test_results/neonavigation_metrics_msgs/roslint-neonavigation_metrics_msgs.xml: 1 tests
build/test_results/obj_to_pointcloud/roslint-obj_to_pointcloud.xml: 1 tests
build/test_results/obj_to_pointcloud/rostest-test_test_obj_to_pointcloud_rostest.xml: 1 tests
build/test_results/obj_to_pointcloud/rosunit-test_obj_to_pointcloud.xml: 2 tests
build/test_results/planner_cspace/gtest-test_blockmem_gridmap.xml: 10 tests
build/test_results/planner_cspace/gtest-test_costmap_bbf.xml: 4 tests
build/test_results/planner_cspace/gtest-test_cyclic_vec.xml: 14 tests
build/test_results/planner_cspace/gtest-test_distance_map.xml: 18 tests
build/test_results/planner_cspace/gtest-test_distance_map_fast_update.xml: 4 tests
build/test_results/planner_cspace/gtest-test_grid_astar.xml: 12 tests
build/test_results/planner_cspace/gtest-test_grid_metric_converter.xml: 4 tests
build/test_results/planner_cspace/gtest-test_motion_cache.xml: 2 tests
build/test_results/planner_cspace/gtest-test_motion_primitive_builder.xml: 2 tests
build/test_results/planner_cspace/gtest-test_path_interpolator.xml: 4 tests
build/test_results/planner_cspace/gtest-test_planner_3d_cost.xml: 2 tests
build/test_results/planner_cspace/gtest-test_start_pose_predictor.xml: 6 tests
build/test_results/planner_cspace/roslint-planner_cspace.xml: 1 tests
build/test_results/planner_cspace/rostest-navigation_rostest__antialias_start_true.xml: 1 tests
build/test_results/planner_cspace/rostest-navigation_rostest__antialias_start_true__fast_map_update_true.xml: 1 tests
build/test_results/planner_cspace/rostest-navigation_rostest__with_tolerance_true.xml: 1 tests
build/test_results/planner_cspace/rostest-test_test_abort_rostest.xml: 1 tests
build/test_results/planner_cspace/rostest-test_test_costmap_watchdog_rostest.xml: 1 tests
build/test_results/planner_cspace/rostest-test_test_debug_outputs_rostest.xml: 1 tests
build/test_results/planner_cspace/rostest-test_test_dynamic_parameter_change_rostest.xml: 1 tests
build/test_results/planner_cspace/rostest-test_test_navigation_boundary_rostest.xml: 1 tests
build/test_results/planner_cspace/rostest-test_test_navigation_compat_rostest.xml: 1 tests
build/test_results/planner_cspace/rostest-test_test_navigation_rostest.xml: 1 tests
build/test_results/planner_cspace/rostest-test_test_planner_2dof_serial_joints_rostest.xml: 1 tests
build/test_results/planner_cspace/rostest-test_test_planner_3d_map_size_rostest.xml: 1 tests
build/test_results/planner_cspace/rostest-test_test_preempt_rostest.xml: 1 tests
build/test_results/planner_cspace/rostest-test_test_tolerant_action_rostest.xml: 1 tests
build/test_results/planner_cspace/rosunit-test_abort.xml: 2 tests
build/test_results/planner_cspace/rosunit-test_costmap_watchdog.xml: 4 tests
build/test_results/planner_cspace/rosunit-test_debug_outputs.xml: 8 tests
build/test_results/planner_cspace/rosunit-test_dynamic_parameter_change.xml: 4 tests
build/test_results/planner_cspace/rosunit-test_navigate.xml: 12 tests
build/test_results/planner_cspace/rosunit-test_navigate_boundary.xml: 2 tests
build/test_results/planner_cspace/rosunit-test_planner_2dof_serial_joints.xml: 4 tests
build/test_results/planner_cspace/rosunit-test_planner_3d_map_size.xml: 12 tests
build/test_results/planner_cspace/rosunit-test_preempt.xml: 2 tests
build/test_results/planner_cspace/rosunit-test_tolerant_action.xml: 2 tests
build/test_results/safety_limiter/roslint-safety_limiter.xml: 1 tests
build/test_results/safety_limiter/rostest-test_test_safety_limiter2_rostest.xml: 1 tests
build/test_results/safety_limiter/rostest-test_test_safety_limiter_compat_rostest.xml: 1 tests
build/test_results/safety_limiter/rostest-test_test_safety_limiter_rostest.xml: 1 tests
build/test_results/safety_limiter/rosunit-test_safety_limiter.xml: 22 tests
build/test_results/safety_limiter/rosunit-test_safety_limiter2.xml: 2 tests
build/test_results/track_odometry/gtest-test_tf_projection.xml: 2 tests
build/test_results/track_odometry/roslint-track_odometry.xml: 1 tests
build/test_results/track_odometry/rostest-test_test_tf_projection_rostest.xml: 1 tests
build/test_results/track_odometry/rostest-test_test_track_odometry_rostest.xml: 1 tests
build/test_results/track_odometry/rosunit-test_tf_projection_node.xml: 8 tests
build/test_results/track_odometry/rosunit-test_track_odometry.xml: 10 tests
build/test_results/trajectory_tracker/gtest-test_trajectory_tracker_filter.xml: 6 tests
build/test_results/trajectory_tracker/gtest-test_trajectory_tracker_path2d.xml: 18 tests
build/test_results/trajectory_tracker/roslint-trajectory_tracker.xml: 1 tests
build/test_results/trajectory_tracker/rostest-test_test_trajectory_recorder_rostest.xml: 1 tests
build/test_results/trajectory_tracker/rostest-test_test_trajectory_tracker_overshoot_rostest.xml: 1 tests
build/test_results/trajectory_tracker/rostest-test_test_trajectory_tracker_rostest.xml: 1 tests
build/test_results/trajectory_tracker/rostest-test_test_trajectory_tracker_with_odom_rostest.xml: 1 tests
build/test_results/trajectory_tracker/rostest-trajectory_tracker_rostest__odom_delay_0.xml: 1 tests
build/test_results/trajectory_tracker/rosunit-test_trajectory_recorder.xml: 2 tests
build/test_results/trajectory_tracker/rosunit-test_trajectory_tracker.xml: 16 tests
build/test_results/trajectory_tracker/rosunit-test_trajectory_tracker_overshoot.xml: 12 tests
build/test_results/trajectory_tracker/rosunit-test_trajectory_tracker_with_odom.xml: 4 tests
build/test_results/trajectory_tracker_msgs/gtest-test_path_with_velocity_conversion.xml: 4 tests
build/test_results/trajectory_tracker_msgs/roslint-trajectory_tracker_msgs.xml: 1 tests
Summary: 342 tests, 0 errors, 0 failures, 0 skipped

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at-wat commented Nov 1, 2023

[537] PASSED on noetic

All tests passed
build/test_results/costmap_cspace/gtest-test_costmap_3d.xml: 24 tests
build/test_results/costmap_cspace/gtest-test_pointcloud_accumulator.xml: 4 tests
build/test_results/costmap_cspace/roslint-costmap_cspace.xml: 1 tests
build/test_results/joystick_interrupt/roslint-joystick_interrupt.xml: 1 tests
build/test_results/joystick_interrupt/rostest-test_test_joystick_interrupt_rostest.xml: 1 tests
build/test_results/joystick_interrupt/rosunit-test_joystick_interrupt.xml: 12 tests
build/test_results/map_organizer/roslint-map_organizer.xml: 1 tests
build/test_results/map_organizer/rostest-test_test_map_organizer_rostest.xml: 1 tests
build/test_results/map_organizer/rostest-test_test_pointcloud_to_maps_rostest.xml: 1 tests
build/test_results/map_organizer/rosunit-test_map_organizer.xml: 8 tests
build/test_results/map_organizer/rosunit-test_pointcloud_to_maps.xml: 2 tests
build/test_results/neonavigation_common/roslint-neonavigation_common.xml: 1 tests
build/test_results/neonavigation_common/rostest-test_test_compat_rostest.xml: 1 tests
build/test_results/neonavigation_common/rosunit-test_compat.xml: 6 tests
build/test_results/neonavigation_metrics_msgs/gtest-test_helper.xml: 4 tests
build/test_results/neonavigation_metrics_msgs/roslint-neonavigation_metrics_msgs.xml: 1 tests
build/test_results/obj_to_pointcloud/roslint-obj_to_pointcloud.xml: 1 tests
build/test_results/obj_to_pointcloud/rostest-test_test_obj_to_pointcloud_rostest.xml: 1 tests
build/test_results/obj_to_pointcloud/rosunit-test_obj_to_pointcloud.xml: 2 tests
build/test_results/planner_cspace/gtest-test_blockmem_gridmap.xml: 10 tests
build/test_results/planner_cspace/gtest-test_costmap_bbf.xml: 4 tests
build/test_results/planner_cspace/gtest-test_cyclic_vec.xml: 14 tests
build/test_results/planner_cspace/gtest-test_distance_map.xml: 18 tests
build/test_results/planner_cspace/gtest-test_distance_map_fast_update.xml: 4 tests
build/test_results/planner_cspace/gtest-test_grid_astar.xml: 12 tests
build/test_results/planner_cspace/gtest-test_grid_metric_converter.xml: 4 tests
build/test_results/planner_cspace/gtest-test_motion_cache.xml: 2 tests
build/test_results/planner_cspace/gtest-test_motion_primitive_builder.xml: 2 tests
build/test_results/planner_cspace/gtest-test_path_interpolator.xml: 4 tests
build/test_results/planner_cspace/gtest-test_planner_3d_cost.xml: 2 tests
build/test_results/planner_cspace/gtest-test_start_pose_predictor.xml: 6 tests
build/test_results/planner_cspace/roslint-planner_cspace.xml: 1 tests
build/test_results/planner_cspace/rostest-navigation_rostest__antialias_start_true.xml: 1 tests
build/test_results/planner_cspace/rostest-navigation_rostest__antialias_start_true__fast_map_update_true.xml: 1 tests
build/test_results/planner_cspace/rostest-navigation_rostest__with_tolerance_true.xml: 1 tests
build/test_results/planner_cspace/rostest-test_test_abort_rostest.xml: 1 tests
build/test_results/planner_cspace/rostest-test_test_costmap_watchdog_rostest.xml: 1 tests
build/test_results/planner_cspace/rostest-test_test_debug_outputs_rostest.xml: 1 tests
build/test_results/planner_cspace/rostest-test_test_dynamic_parameter_change_rostest.xml: 1 tests
build/test_results/planner_cspace/rostest-test_test_navigation_boundary_rostest.xml: 1 tests
build/test_results/planner_cspace/rostest-test_test_navigation_compat_rostest.xml: 1 tests
build/test_results/planner_cspace/rostest-test_test_navigation_rostest.xml: 1 tests
build/test_results/planner_cspace/rostest-test_test_planner_2dof_serial_joints_rostest.xml: 1 tests
build/test_results/planner_cspace/rostest-test_test_planner_3d_map_size_rostest.xml: 1 tests
build/test_results/planner_cspace/rostest-test_test_preempt_rostest.xml: 1 tests
build/test_results/planner_cspace/rostest-test_test_tolerant_action_rostest.xml: 1 tests
build/test_results/planner_cspace/rosunit-test_abort.xml: 2 tests
build/test_results/planner_cspace/rosunit-test_costmap_watchdog.xml: 4 tests
build/test_results/planner_cspace/rosunit-test_debug_outputs.xml: 8 tests
build/test_results/planner_cspace/rosunit-test_dynamic_parameter_change.xml: 4 tests
build/test_results/planner_cspace/rosunit-test_navigate.xml: 12 tests
build/test_results/planner_cspace/rosunit-test_navigate_boundary.xml: 2 tests
build/test_results/planner_cspace/rosunit-test_planner_2dof_serial_joints.xml: 4 tests
build/test_results/planner_cspace/rosunit-test_planner_3d_map_size.xml: 12 tests
build/test_results/planner_cspace/rosunit-test_preempt.xml: 2 tests
build/test_results/planner_cspace/rosunit-test_tolerant_action.xml: 2 tests
build/test_results/safety_limiter/roslint-safety_limiter.xml: 1 tests
build/test_results/safety_limiter/rostest-test_test_safety_limiter2_rostest.xml: 1 tests
build/test_results/safety_limiter/rostest-test_test_safety_limiter_compat_rostest.xml: 1 tests
build/test_results/safety_limiter/rostest-test_test_safety_limiter_rostest.xml: 1 tests
build/test_results/safety_limiter/rosunit-test_safety_limiter.xml: 22 tests
build/test_results/safety_limiter/rosunit-test_safety_limiter2.xml: 2 tests
build/test_results/track_odometry/gtest-test_tf_projection.xml: 2 tests
build/test_results/track_odometry/roslint-track_odometry.xml: 1 tests
build/test_results/track_odometry/rostest-test_test_tf_projection_rostest.xml: 1 tests
build/test_results/track_odometry/rostest-test_test_track_odometry_rostest.xml: 1 tests
build/test_results/track_odometry/rosunit-test_tf_projection_node.xml: 8 tests
build/test_results/track_odometry/rosunit-test_track_odometry.xml: 10 tests
build/test_results/trajectory_tracker/gtest-test_trajectory_tracker_filter.xml: 6 tests
build/test_results/trajectory_tracker/gtest-test_trajectory_tracker_path2d.xml: 18 tests
build/test_results/trajectory_tracker/roslint-trajectory_tracker.xml: 1 tests
build/test_results/trajectory_tracker/rostest-test_test_trajectory_recorder_rostest.xml: 1 tests
build/test_results/trajectory_tracker/rostest-test_test_trajectory_tracker_overshoot_rostest.xml: 1 tests
build/test_results/trajectory_tracker/rostest-test_test_trajectory_tracker_rostest.xml: 1 tests
build/test_results/trajectory_tracker/rostest-test_test_trajectory_tracker_with_odom_rostest.xml: 1 tests
build/test_results/trajectory_tracker/rostest-trajectory_tracker_rostest__odom_delay_0.xml: 1 tests
build/test_results/trajectory_tracker/rosunit-test_trajectory_recorder.xml: 2 tests
build/test_results/trajectory_tracker/rosunit-test_trajectory_tracker.xml: 16 tests
build/test_results/trajectory_tracker/rosunit-test_trajectory_tracker_overshoot.xml: 12 tests
build/test_results/trajectory_tracker/rosunit-test_trajectory_tracker_with_odom.xml: 4 tests
build/test_results/trajectory_tracker_msgs/gtest-test_path_with_velocity_conversion.xml: 4 tests
build/test_results/trajectory_tracker_msgs/roslint-trajectory_tracker_msgs.xml: 1 tests
Summary: 342 tests, 0 errors, 0 failures, 0 skipped

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LGTM

@at-wat at-wat merged commit 44a5f47 into master Nov 1, 2023
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@at-wat at-wat deleted the avoid-expanding-surrrounded-cells branch November 1, 2023 10:23
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3 participants