planner_cspace: add new parameters for cost function

[nhatao]

Two parameters are added to planner_cspace. This change does not change the default behavior.

• "weight_costmap_turn_heuristics" (double, default: 100.0)
  • The weight of the heuristic cost of in-place turning at grid cells with costs.
• "turn_penalty_cost_threshold" (int, default: 0)
  • Penalty costs of in-place turning are not added when the cost of the grid cell is lower than this value.

[at-wat]

[505] 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/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: 2 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: 12 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: 328 tests, 0 errors, 0 failures, 0 skipped ```

[codecov-commenter]

Codecov Report

Merging #720 (627f00f) into master (600e7bb) will decrease coverage by 0.02%. The diff coverage is 100.00%.

:exclamation: Current head 627f00f differs from pull request most recent head 054d081. Consider uploading reports for the commit 054d081 to get more accurate results

@@            Coverage Diff             @@
##           master     #720      +/-   ##
==========================================
- Coverage   88.34%   88.32%   -0.02%     
==========================================
  Files          60       60              
  Lines        4444     4447       +3     
==========================================
+ Hits         3926     3928       +2     
- Misses        518      519       +1     

Files Changed	Coverage Δ
...clude/planner_cspace/planner_3d/grid_astar_model.h	100.00% <ø> (ø)
planner_cspace/src/grid_astar_model_3dof.cpp	96.10% <100.00%> (+0.02%)	:arrow_up:
planner_cspace/src/planner_3d.cpp	85.07% <100.00%> (-0.19%)	:arrow_down:

... and 1 file with indirect coverage changes

[at-wat]

[509] 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/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: 2 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: 12 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: 328 tests, 0 errors, 0 failures, 0 skipped ```

[at-wat]

[510] FAILED on noetic

docker build failed

---

[510] FAILED on noetic

Test failed

``` 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/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: 2 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, 0 errors, 2 failures, 0 skipped 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: 12 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: 328 tests, 0 errors, 2 failures, 0 skipped ```

---

[510] 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/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: 2 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: 12 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: 328 tests, 0 errors, 0 failures, 0 skipped ```

[at-wat]

[512] 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/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: 2 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: 12 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: 328 tests, 0 errors, 0 failures, 0 skipped ```