Torrent and repeat - #262

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becaanth wants to merge 549 commits into

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torrent_and_repeat

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Commits on Oct 18, 2025

Fix move robot front end bug
lanton97
committed
740d3f2
Fix move robot tool backend
lanton97
committed
6cecd45
Add read only graph access
a-krawciw
committed
f876042
Implement convoy manager to allow switching control modes live on the robot
a-krawciw
committed
03ff16e
Modify launch files and fix typo
a-krawciw
committed
f5e7291
Update convoy manager
a-krawciw
committed
9920c1f
Fix convoy manager
a-krawciw
committed
2d695ea
Update launch
a-krawciw
committed
9cb38b6
Typo
a-krawciw
committed
03b6c76
Updates for debugging
a-krawciw
committed
bba0711
Add path planning logs
a-krawciw
committed
43a6f49
Always call service
a-krawciw
committed
5dbd7d8
Change pose graph
a-krawciw
committed
a573681
Update the convoy manager to only cancel follwers' repeats
a-krawciw
committed
e26dd0f
Change parameters so that they work properly
a-krawciw
committed
fc70f2a
Fix namespace
a-krawciw
committed
5331c58
Restore null pointer check
a-krawciw
committed
ba587d2
Fix convoy manager
a-krawciw
committed
d7d3124
Check if the goal queues are matched
a-krawciw
committed
74e66d9
Fix control period
a-krawciw
committed
0be0818
Fix mission server logic
a-krawciw
committed
726b665
Dont clear all goals on a cancel
a-krawciw
committed
456195f

Commits on Oct 20, 2025

Merge branch 'convoy' into lelr-devel
lanton97
committed
457cf76
Merge remote-tracking branch 'refs/remotes/origin/convoy' into convoy
lanton97
committed
31439bf
Merge branch 'convoy' into lelr-devel
lanton97
committed
5cd1c7d
Fix missed merge conflicts
lanton97
committed
89533ea
Fix xml
LELR Foxtrot
committed
0e8e348
Lelr convoy config change
a-krawciw
committed
eb7e60f
Merge remote-tracking branch 'foxtrot/lelr-devel' into lelr-devel
lanton97
committed
66ddc4c
Change config files to new format
a-krawciw
committed
a863636
Revert issue with package.xml
a-krawciw
committed
be4563d
Fix errant config space
a-krawciw
committed
76429ef
Fix indent in yaml
a-krawciw
committed
0f61149
Add missing domain ID
a-krawciw
committed
c9ac239
Change logging
a-krawciw
committed
1127906
Fix config issue with the planner type
a-krawciw
committed
626cca3
Fixindentation in config
a-krawciw
committed
dc0c2e4
Add a better None check
a-krawciw
committed
69b97bb
Change logic of ending goals
a-krawciw
committed
60dd3a1
Merge remote-tracking branch 'refs/remotes/origin/lelr-devel' into lelr-devel
lanton97
committed
098dc07
Update cancel goal logic
a-krawciw
committed
71d3598
Changes to cancelling goals
a-krawciw
committed
6003dac

Commits on Oct 21, 2025

Add pause state to state machine, as well as pause exit comman
lanton97
committed
196885c
Remove exit pause mission command
lanton97
committed
b6678bf
Add new goal types to GUI display
lanton97
committed
2cc949c
Merge branch 'lelr-devel' of github.com:utiasASRL/vtr3 into lelr-devel
a-krawciw
committed
6af5579
Merge remote-tracking branch 'refs/remotes/origin/lelr-devel' into lelr-devel
lanton97
committed
9f22d47
Change invalid id to zeros
a-krawciw
committed
82a0e68
Connect GUI to convoy route planner for repeat goals
lanton97
committed
81e0655
Cache robot vertex index and send to convoy route planner
lanton97
committed
7999956
Merge remote-tracking branch 'refs/remotes/origin/lelr-devel' into lelr-devel
lanton97
committed
f2f705f
Add an auto pause during a direction switch to allow the robots to sync up.
a-krawciw
committed
dc9203b
Merge branch 'lelr-devel' of github.com:utiasASRL/vtr3 into lelr-devel
a-krawciw
committed
31662e2
Update arrows to match default
a-krawciw
committed
c4b817e
Change finishing behaviour
a-krawciw
committed
06e5379
Change cancel goal
a-krawciw
committed
35e46ef
Add eop logging
a-krawciw
committed
5953895
Force a zero command when we pause the controller.
a-krawciw
committed
a00d57f
Tell the controller to stop immediately at eop
a-krawciw
committed
c09474a
Remove setTrunk call from pause state
lanton97
committed
d541fd3
Change force vertex and add a log
a-krawciw
committed
43ba9c9

Commits on Oct 22, 2025

EOP
a-krawciw
committed
82baf29
Resolve git merge duplications
a-krawciw
committed
36298aa
Changes to EOP behaviour
LELR Foxtrot
committed
d5e8e3a
Move graph search
a-krawciw
committed
6b7487a
Merge branch 'lelr-devel' of 10.1.0.5:/home/lelr/ASRL/vtr3/src into lelr-devel
a-krawciw
committed
5ee4197

Commits on Oct 23, 2025

Commits on Oct 25, 2025

Add distinct min vel at the end of path
a-krawciw
committed
6144222

Commits on Oct 26, 2025

Restore change to publish odometry from the root.
a-krawciw
committed
c00bc9c

Commits on Oct 28, 2025

Add search range so localize mode changes vertex id
lanton97
committed
e611437
Merge branch 'lelr-devel' of 10.0.0.5:/home/lelr/ASRL/vtr3/src into lelr-devel
lanton97
committed
3eadc75
Better run time. Collect better ros bags.
a-krawciw
committed
8aa738d
Retain intermediate waypoints on convoy route planning
a-krawciw
committed
92467fa
Merge branch 'lelr-devel' of 10.0.0.5:/home/lelr/ASRL/vtr3/src into lelr-devel
a-krawciw
committed
0e3a8d9
Add eop min vel
LELR Foxtrot
committed
8061cba

Commits on Oct 29, 2025

Fix adding waypoints in single robot GUI
lanton97
committed
5db900e
Merge remote-tracking branch 'foxtrot/lelr-devel' into lelr-devel
lanton97
committed
90a1f52
Change the setup server to sync between two robots
a-krawciw
committed
a056f31
Merge branch 'lelr-devel' of github.com:utiasASRL/vtr3 into lelr-devel
a-krawciw
committed
2f263c4
Move cancel all goals button
lanton97
committed
e54bb68
Update the map to world tf
a-krawciw
committed
4ba633e
Downsample more
a-krawciw
committed
7866ccf

Commits on Oct 30, 2025

Change graph search to privilged grpah only
a-krawciw
committed
1f819fb
Merge remote-tracking branch 'refs/remotes/origin/lelr-devel' into lelr-devel
lanton97
committed
7ae8fac
Error out on critical TF missing
lanton97
committed
76433e3

Commits on Nov 4, 2025

Add pose graph smoother script and auto run on state exit.
a-krawciw
committed
a92f382
Publish the estimated distance to ros
a-krawciw
committed
0752597
Merge branch 'lelr-devel' of github.com:utiasASRL/vtr3 into lelr-devel
a-krawciw
committed
3ef037a
Retain intermediate waypoints on convoy route planning
a-krawciw
committed
b9f3c84
Modify config params
a-krawciw
committed
103b7e1
Change the follower to request the leader's route again
a-krawciw
committed
cb8d217

Commits on Nov 8, 2025

Increase TF timeout
a-krawciw
committed
559d454
Update convoy manager to listen to the right convoy param
a-krawciw
committed
1d46546
Merge branch 'lelr-devel' of 10.0.0.5:/home/lelr/ASRL/vtr3/src into lelr-devel
a-krawciw
committed
530e12d

Commits on Jan 14, 2026

Base level clean up
a-krawciw
committed
7da860a
Fix pose graph smoother to accept command line args
a-krawciw
committed
812bf21
Change convoy manager to select different possible controllers
a-krawciw
committed
8a41b34
Update the launch files to use the new hunter launch
a-krawciw
committed
b19a923
Merge pull request #257 from utiasASRL/lelr-merge
lanton97
authored
9d7f1d5
Modifications to arc length at CSA
Mr Green Robot
committed
41abc40
Merge branch 'convoy' of 192.168.2.42:/home/indro/ASRL/vtr3/src into convoy
a-krawciw
committed
f694c05
Add new params for figure eight
a-krawciw
committed
b9d92fe
Add timestamp to reference pose publishing
lanton97
committed
20b48c8

Commits on Jan 16, 2026

Merge branch 'convoy' of 192.168.3.42:/home/indro/ASRL/vtr3/src into convoy
lanton97
committed
0f0ba11
Update hunter config to launch setup client as well
lanton97
committed
a7787dd
Fix frame namespacing for multi-robot case
lanton97
committed
97a50f0

Commits on Jan 21, 2026

Add setup client blocking call to convoy launch
lanton97
committed
7475c85

Commits on Jan 23, 2026

Move first order lag to base MPC config
lanton97
committed
9934b8e
Remove joint MPC tracker
lanton97
committed
77845fb
Remove joint mpc header include
lanton97
committed
a1ee063
Minor cleanup and some shuffling of function args and config members
lanton97
committed
89d090c
Point unicycle at base MPC class - no corresponding changes casadi SO yet
lanton97
committed
9a7aa2f
Remove python joint MPC refs
lanton97
committed
d0e0771

Commits on Jan 24, 2026

Fix config namespacing and launch args for convoy route-planner
lanton97
committed
651e9ae
Connect casadi solver cost parameters to ROS2 node configs
lanton97
committed
45ccf67
Uncomment throwing errors on casadi failure
lanton97
committed
c6feb66

Commits on Jan 29, 2026

init commit, need to fix bugs
ElliotP-K
committed
4851cb0
Build error fixes plus config parameter loading
ElliotP-K
committed
908ecd7

Commits on Jan 30, 2026

Fix duplicate instantiation of ROS params
lanton97
committed
3d21685
minor unicycle mpc parameter fix + warthog unicycle config parameters
ElliotP-K
committed
5e1e6f9
Fix loading of config
lanton97
committed
6bc45e5

Commits on Feb 4, 2026

tested new unicycle code
ElliotP-K
committed
f3be0f1
init commit, need to fix bugs
ElliotP-K
committed
fc8da7a
Build error fixes plus config parameter loading
ElliotP-K
committed
a519190

Commits on Feb 9, 2026

Hunter unicycle follower test configs
ElliotP-K
committed
de39f74
Added convoy params for unicycle test
ElliotP-K
committed
85a64d2
trying to push to robot
ElliotP-K
committed
a2a8391
Pointing robots to unicycle
ElliotP-K
committed
9991eab

Commits on Feb 10, 2026

Refactor sim for unicycle MPC
lanton97
committed
50840bc
mrs_peacock remote
becaanth
committed
4c801dc
Merge remote-tracking branch 'refs/remotes/origin/convoy' into convoy
lanton97
committed
7d3630b
unicycle follower sim
becaanth
committed
ed6e3ab
fixed unicycle_mpc_path_tracker.cpp merge issue
becaanth
committed
b20b68d
feat: unicycle convoy proof of life; unicycle_follow_solver.py, run_convoy_mpc_new.py
becaanth
committed
67d7dc1
feat: proof of life for unicycle convoy

lanton97
authored and
becaanth
committed
6225994
init commit, need to fix bugs

ElliotP-K
authored and
becaanth
committed
2b4715a
mrs_peacock remote
becaanth
committed
a9c379a
unicycle follower sim
becaanth
committed
c10f99f
feat: convoy unicycle proof of life
becaanth
committed
16b84c5
completed rebase
becaanth
committed
3d2346a
Partial updates from follower proof of life
ElliotP-K
committed
0deac55
Merge branch 'convoy_unicycle_follower_updates' of github.com:utiasASRL/vtr3 into convoy_unicycle_follower_updates
ElliotP-K
committed
6091b51
merge casadi_path_planners.cpp
becaanth
committed
f59d60f
Fix extant merge conflicts
becaanth
committed
63c95ed
Merge branch 'convoy_unicycle_follower_updates' of 192.168.5.42:/home/indro/ASRL/vtr3/src into convoy_unicycle_follower_updates
becaanth
committed
c92bbde
casadi issue, sim works, hunters dont; fixing casadi_path_planners.cpp
becaanth
committed
0a49b30

Commits on Feb 11, 2026

Merge branch 'convoy_unicycle_follower_updates' of github.com:utiasASRL/vtr3 into convoy_unicycle_follower_updates
becaanth
committed
6037584

Commits on Feb 25, 2026

modifying tactic.* storables.* to write edges, vertices, indices. edges in progress
becaanth
committed
b72d8cc

Commits on Mar 4, 2026

revert: instead of graph_->write for edges, lets try graph->save calls
becaanth
committed
f3455ac

Commits on Mar 10, 2026

feat(rc_graph): saveLive methods, feat(tactic): save each time a vertex is added
becaanth
committed
427f60e

Commits on Mar 11, 2026

live edge saving
becaanth
committed
4a62ace

Commits on Mar 16, 2026

feat: live posegraph saving; next is live decomposition
becaanth
committed
b9f6852

Commits on May 1, 2026

feat(uuid vertex ids): tested in test_serialization_edge.cpp, next is to integrate uuids into graph construction
becaanth
committed
be9d337

Commits on May 5, 2026

feat(uuids): updated vtr_pose_graph, vtr_tactic, vtr_navigation, vtr_gui
becaanth
committed
64e04fc

Commits on May 6, 2026

feat(rids with UUIDs): able to teach two separate runs on the same graph. next is 64-bit uuids
becaanth
committed
3631534

Commits on May 7, 2026

feat: reverted vids to sequential. rids are uuids. fixed gui
becaanth
committed
aba6130

Commits on May 11, 2026

feat: skip dangling edges (these come from live_deconstructed pgs, connecting to vtxs that have not been received yet
becaanth
committed
f39cb6b

Commits on May 13, 2026

feat(44-bit uuids) can teach, repeat, merge with 44-bit uuids. still problems with waypoint display, and a crash from localization_map_recall_module.cpp, mismatch between ptr.id ad map.id
becaanth
committed
7680bfc

Commits on May 14, 2026

added robot_id as a launch parameter, determines first 4 bits of run_id
becaanth
committed
c8f22e0
bug fix for robot_id
becaanth
committed
a99b164

Commits on May 19, 2026

feat: added libtorrent dependancies to vtr3 container
becaanth
committed
9469760

Commits on May 25, 2026

feat: color routes by teacher ID
becaanth
committed
e17ba3f

Commits on May 26, 2026

feat: load pg with partial information (doesnt load whole topology preview, only vertices with data)
becaanth
committed
979b2a9

Commits on Jun 10, 2026

fix: typo in data_bubble
becaanth
committed
64e3e26
feat: include EdgeMode in EdgeBase, to match signature of EdgeMode ROS message type
becaanth
committed
6dbaf29

Commits on Jun 11, 2026

feat: refactor for EdgeMode in mission planning, tactic, and path_planning
becaanth
committed
f947608

Commits on Jun 14, 2026

Commits on Jun 15, 2026

feat: loadLive methods tracking topology; next is to extendSimpleGraph
becaanth
committed
185cfa7

Commits on Jun 16, 2026

feat:populateEdgesLive overwrites topology edges in edges_. backend, next is frontend
becaanth
committed
ed290ed

Commits on Jun 17, 2026

Commits on Jun 19, 2026

fix(vtr_storage): resolved sqlite R/W errors. can saveLive(), and write spatial edges while reconstituting and repeating
becaanth
committed
020908e

Commits on Jun 22, 2026

fix(vtr_storage): sqlite storage/wrapper updated to avoid error 517: database locked when R/W while reconstituting
becaanth
committed
eb6ced4

Commits on Jun 23, 2026

feat(almost live loading posegraphs, gui is last) | vtr_pose_graph: needed topology_vertices list to overwrite vertices (BubbleInterface searches by ts, reconstitution sends ts=0, vtr_tactic: fixed…
becaanth
committed
94cc926

Commits on Jun 24, 2026

fix(vtr_storage): PRAGMAs were not set for read_only, apply busy_timeout directly
becaanth
committed
f2a618f

Commits on Jun 25, 2026

fix(vtr_pose_graph): increment lastVertexIdx_ and lastEdgeIdx_ in saveLive() calls
becaanth
committed
13550af

Commits on Jun 26, 2026

Commits on Jun 30, 2026

Commits on Jul 2, 2026

Commits on Jul 3, 2026

Commits on Jul 15, 2026

fix(vtr_pose_graph) simple_graph.cpp: dont crash when trying to add an edge that already exists, log an error and return
becaanth
committed
f9c9be3

Commits on Jul 23, 2026

fix(tactic): set odometry_success to true on success
becaanth
committed
ce8b139

Commits on Jul 27, 2026

ts(graph.inl): robot id error -> input is "3", log says 77
becaanth
committed
b133eb8

Commits on Jul 29, 2026

switched to bicycle mpc in config
becaanth
committed
1a8950f

Commits on Jul 31, 2026

Commits on Aug 4, 2026

fix(pose_graph): continue instead of return in rc_graph
becaanth
committed
8dce17e
Merge branch 'main' into torrent_and_repeat
becaanth
committed
0c047b5
Delete erroneously added files
a-krawciw
committed
9bf3265
Remove additional erroroneous additions
a-krawciw
committed
9b8a041
Delete rviz file
a-krawciw
committed
d0b45f8
fix(path_planning): unicycle_tests.cpp refactored with EdgeMode
becaanth
committed
8e0fa50
Merge branch 'torrent_and_repeat' of github.com:utiasASRL/vtr3 into torrent_and_repeat
becaanth
committed
b1fbadc

Commits on Aug 5, 2026

pr(tactic): removed old comments from storables.hpp
becaanth
committed
44b7111
pr(storage): removed stale comments
becaanth
committed
ba41d59
pr(pose_graph): removed err. return in simple_graph
becaanth
committed
f2aebf7
pr(pose_graph): reverted pose_graph_smoother.hpp (dont need topology)
becaanth
committed
6755f82
pr(pose_graph): removed comments from localization chain
becaanth
committed
c606d67
pr(pose_graph): added comment abt vertex ids to id.hpp
becaanth
committed
20a5100
pr(navigation): remove timestamp_offset_
becaanth
committed
6541319
pr(navigation): revert vtr.launch.py and command_publisher to main
becaanth
committed
ece3ddb
pr(mission_planning): removed dependancy on algorithm
becaanth
committed
9d466ce
pr(gui)
becaanth
committed
29b55a3
pr(mission planning): privileged -> edge_mode; pr(pose_graph): removed comments
becaanth
committed
22fa5b5
cleaned Dockerfile to build from docker hub
becaanth
committed
7b993c3
fix(gui) remove mention of CSA plan
becaanth
committed
246c1dc
pr(vision): remove top_evaluator
becaanth
committed
871bd3a
pr(Dockerfiles): add libtorrent deps to dockerfiles
becaanth
committed
f7be42e
feat(pose_graph): take ROBOT_ID as a parameter in graph.inl (not graph.hpp) and check for validity
becaanth
committed
50997d8

Commits on Aug 7, 2026

ts(pose_graph): dont crash if tried to add edge that already exists, simply skip
becaanth
committed
6497d2d
ts(pose_graph): revert change to simple graph
becaanth
committed
7e99657
ts(pose_graph): simple graph logging
becaanth
committed
adb15cc

Commits on Aug 11, 2026