From a1b396c4b14f8d35b9e526b924e458806c3f17ea Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Tue, 5 Oct 2021 18:05:30 -0700 Subject: [PATCH 01/31] adding state lattice beginning point --- nav2_smac_planner/CMakeLists.txt | 24 +- nav2_smac_planner/README.md | 24 +- .../include/nav2_smac_planner/a_star.hpp | 1 + .../include/nav2_smac_planner/node_basic.hpp | 5 +- .../nav2_smac_planner/node_lattice.hpp | 379 ++++++++++++++++++ .../smac_planner_lattice.hpp | 109 +++++ nav2_smac_planner/smac_plugin_lattice.xml | 5 + nav2_smac_planner/src/a_star.cpp | 1 + nav2_smac_planner/src/node_lattice.cpp | 264 ++++++++++++ .../src/smac_planner_lattice.cpp | 318 +++++++++++++++ nav2_smac_planner/test/test_nodebasic.cpp | 6 + 11 files changed, 1123 insertions(+), 13 deletions(-) create mode 100644 nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp create mode 100644 nav2_smac_planner/include/nav2_smac_planner/smac_planner_lattice.hpp create mode 100644 nav2_smac_planner/smac_plugin_lattice.xml create mode 100644 nav2_smac_planner/src/node_lattice.cpp create mode 100644 nav2_smac_planner/src/smac_planner_lattice.cpp diff --git a/nav2_smac_planner/CMakeLists.txt b/nav2_smac_planner/CMakeLists.txt index 1d7b71bf6a..acd2ccc69b 100644 --- a/nav2_smac_planner/CMakeLists.txt +++ b/nav2_smac_planner/CMakeLists.txt @@ -70,6 +70,7 @@ add_library(${library_name} SHARED src/smac_planner_hybrid.cpp src/a_star.cpp src/node_hybrid.cpp + src/node_lattice.cpp src/costmap_downsampler.cpp src/node_2d.cpp ) @@ -86,6 +87,7 @@ add_library(${library_name}_2d SHARED src/smac_planner_2d.cpp src/a_star.cpp src/node_hybrid.cpp + src/node_lattice.cpp src/costmap_downsampler.cpp src/node_2d.cpp ) @@ -97,10 +99,28 @@ ament_target_dependencies(${library_name}_2d ${dependencies} ) +# Lattice plugin +add_library(${library_name}_lattice SHARED + src/smac_planner_lattice.cpp + src/a_star.cpp + src/node_hybrid.cpp + src/node_lattice.cpp + src/costmap_downsampler.cpp + src/node_2d.cpp +) + +target_link_libraries(${library_name}_lattice ${OMPL_LIBRARIES}) +target_include_directories(${library_name}_lattice PUBLIC ${Eigen3_INCLUDE_DIRS}) + +ament_target_dependencies(${library_name}_lattice + ${dependencies} +) + pluginlib_export_plugin_description_file(nav2_core smac_plugin.xml) pluginlib_export_plugin_description_file(nav2_core smac_plugin_2d.xml) +pluginlib_export_plugin_description_file(nav2_core smac_plugin_lattice.xml) -install(TARGETS ${library_name} ${library_name}_2d +install(TARGETS ${library_name} ${library_name}_2d ${library_name}_lattice ARCHIVE DESTINATION lib LIBRARY DESTINATION lib RUNTIME DESTINATION lib/${PROJECT_NAME} @@ -118,6 +138,6 @@ if(BUILD_TESTING) endif() ament_export_include_directories(include) -ament_export_libraries(${library_name} ${library_name}_2d) +ament_export_libraries(${library_name} ${library_name}_2d ${library_name}_lattice) ament_export_dependencies(${dependencies}) ament_package() diff --git a/nav2_smac_planner/README.md b/nav2_smac_planner/README.md index 281f6c027f..2fbc5b7420 100644 --- a/nav2_smac_planner/README.md +++ b/nav2_smac_planner/README.md @@ -2,13 +2,14 @@ The SmacPlanner is a plugin for the Nav2 Planner server. It includes currently 2 distinct plugins: - `SmacPlannerHybrid`: a highly optimized fully reconfigurable Hybrid-A* implementation supporting Dubin and Reeds-Shepp models (ackermann and car models). + - `SmacPlannerLattice`: a highly optimized fully reconfigurable State Lattice implementation supporting Differential and Omnidirectionl models. - `SmacPlanner2D`: a highly optimized fully reconfigurable grid-based A* implementation supporting Moore and Von Neumann models. It also introduces the following basic building blocks: - `CostmapDownsampler`: A library to take in a costmap object and downsample it to another resolution. -- `AStar`: A generic and highly optimized A* template library used by the planning plugins to search. Template implementations are provided for grid-A*, SE2 Hybrid-A* planning. Additional template for 3D planning also could be made available. +- `AStar`: A generic and highly optimized A* template library used by the planning plugins to search. Template implementations are provided for grid-A*, SE2 Hybrid-A*, and SE2 State Lattice planning. Additional template for 3D planning also could be made available. - `CollisionChecker`: Collision check based on a robot's radius or footprint. -- `Smoother`: A path smoother to smooth out 2D, Hybrid-A\* paths. +- `Smoother`: A path smoother to smooth out 2D, Hybrid-A\*, and State Lattice paths. We have users reporting using this on: - Delivery robots @@ -16,10 +17,12 @@ We have users reporting using this on: ## Introduction -The `nav2_smac_planner` package contains an optimized templated A* search algorithm used to create multiple A\*-based planners for multiple types of robot platforms. It was built by [Steve Macenski](https://www.linkedin.com/in/steve-macenski-41a985101/) while at [Samsung Research](https://www.sra.samsung.com/). We support **circular** differential-drive and omni-directional drive robots using the `SmacPlanner2D` planner which implements a cost-aware A\* planner. We support **cars, car-like, and ackermann vehicles** using the `SmacPlannerHybrid` plugin which implements a Hybrid-A\* planner. These plugins are also useful for curvature constrained planning, like when planning robot at high speeds to make sure they don't flip over or otherwise skid out of control. It is also applicable to non-round robots (such as large rectangular or arbitrary shaped robots of differential/omnidirectional drivetrains) that need pose-based collision checking. +The `nav2_smac_planner` package contains an optimized templated A* search algorithm used to create multiple A\*-based planners for multiple types of robot platforms. It was built by [Steve Macenski](https://www.linkedin.com/in/steve-macenski-41a985101/) while at [Samsung Research](https://www.sra.samsung.com/). We support **circular** differential-drive and omni-directional drive robots using the `SmacPlanner2D` planner which implements a cost-aware A\* planner. We support **cars, car-like, and ackermann vehicles** using the `SmacPlannerHybrid` plugin which implements a Hybrid-A\* planner. We support **non-circular, arbitrary shaped** differntial drive and omnidirectional vehicles using the `SmacPlannerLattice` plugin which implements a State Lattice planner. These plugins are also useful for curvature constrained planning, like when planning robot at high speeds to make sure they don't flip over or otherwise skid out of control. It is also applicable to non-round robots (such as large rectangular or arbitrary shaped robots of differential/omnidirectional drivetrains) that need pose-based collision checking. The `SmacPlannerHybrid` implements the Hybrid-A* planner as proposed in [Practical Search Techniques in Path Planning for Autonomous Driving](https://ai.stanford.edu/~ddolgov/papers/dolgov_gpp_stair08.pdf), including hybrid searching, gradient descent smoothing, analytic expansions and hueristic functions. +The `SmacPlannerLattice` fully-implements the State Lattice planner with smoothing. While we do not implement it precisely the same way as [Optimal, Smooth, Nonholonomic MobileRobot Motion Planning in State Lattices](https://www.ri.cmu.edu/pub_files/pub4/pivtoraiko_mihail_2007_1/pivtoraiko_mihail_2007_1.pdf) (with control sets found using [Generating Near Minimal Spanning Control Sets for Constrained Motion Planning in Discrete State Spaces](https://www.ri.cmu.edu/pub_files/pub4/pivtoraiko_mihail_2005_1/pivtoraiko_mihail_2005_1.pdf)), it is sufficiently similar it may be used as a good reference. Additional optimizations for on-approach analytic expansions and simplier heuristic functions were used, largely matching those of Hybrid-A\*. + In summary... The `SmacPlannerHybrid` is designed to work with: @@ -27,6 +30,9 @@ The `SmacPlannerHybrid` is designed to work with: - High speed or curvature constrained robots (as to not flip over, skid, or dump load at high speeds) - Arbitrary shaped, non-circular differential or omnidirectional robots requiring SE2 collision checking with constrained curvatures +The `SmacPlannerLattice` is designed to work with: +- Arbitrary shaped, non-circular differential or omnidirectional robots requiring SE2 collision checking using the full capabilities of the drivetrain + The `SmacPlanner2D` is designed to work with: - Circular, differential or omnidirectional robots - Relatively small robots with respect to environment size (e.g. RC car in a hallway or large robot in a convention center) that can be approximated by circular footprint. @@ -49,7 +55,7 @@ We further improve in the following ways: - Templated Nodes and A\* implementation to support additional robot extensions. - Selective re-evaluation of the obstacle heuristic per goal/map or each iteration, which can speed up subsiquent replanning 20x or more. -All of these features (multi-resolution, models, smoother, etc) are also available in the `SmacPlanner2D` plugin. +All of these features (multi-resolution, models, smoother, etc) are also available in the `SmacPlanner2D` and `SmacPlannerLattice` plugins. The 2D A\* implementation also does not have any of the weird artifacts introduced by the gradient wavefront-based 2D A\* implementation in the NavFn Planner. While this 2D A\* planner is slightly slower, I believe it's well worth the increased quality in paths. Though the `SmacPlanner2D` is grid-based, any reasonable local trajectory planner - including those supported by Nav2 - will not have any issue with grid-based plans. @@ -70,9 +76,9 @@ For example, the following path (roughly 85 meters) path took 33ms to compute. The basic design centralizes a templated A\* implementation that handles the search of a graph of nodes. The implementation is templated by the nodes, `NodeT`, which contain the methods needed to compute the hueristics, travel costs, and search neighborhoods. The outcome of this design is then a standard A\* implementation that can be used to traverse any type of graph as long as a node template can be created for it. -We provide by default a 2D node template (`Node2D`) which does 2D grid-search with either 4 or 8-connected neighborhoods, but the smoother smooths it out on turns. We also provide a Hybrid A\* node template (`NodeHybrid`) which does SE2 (X, Y, theta) search and collision checking on Dubin or Reeds-Shepp motion models. Additional templates could be easily made and included for 3D grid search and non-grid base searching like routing. +We provide by default a 2D node template (`Node2D`) which does 2D grid-search with either 4 or 8-connected neighborhoods, but the smoother smooths it out on turns. We also provide a Hybrid A\* node template (`NodeHybrid`) which does SE2 (X, Y, theta) search and collision checking on Dubin or Reeds-Shepp motion models. We also provide the Lattice (`NodeLattice`) node for state lattice planning making use of the wider range of velocity options available to differential and omnidirectional robots. Additional templates could be easily made and included for 3D grid search and non-grid base searching like routing. -In the ROS2 facing plugin, we take in the global goals and pre-process the data to feed into the templated A\* used. This includes processing any requests to downsample the costmap to another resolution to speed up search and smoothing the resulting A\* path. For the `SmacPlannerHybrid` plugin, the path is promised to be kinematically feasible due to the kinematically valid models used in branching search. The 2D A\* is also promised to be feasible for differential and omni-directional robots. +In the ROS2 facing plugin, we take in the global goals and pre-process the data to feed into the templated A\* used. This includes processing any requests to downsample the costmap to another resolution to speed up search and smoothing the resulting A\* path. For the `SmacPlannerHybrid` and `SmacPlannerLattice` plugins, the path is promised to be kinematically feasible due to the kinematically valid models used in branching search. The 2D A\* is also promised to be feasible for differential and omni-directional robots. We isolated the A\*, costmap downsampler, smoother, and Node template objects from ROS2 to allow them to be easily testable independently of ROS or the planner. The only place ROS is used is in the planner plugins themselves. @@ -97,7 +103,7 @@ planner_server: max_planning_time: 3.5 # max time in s for planner to plan, smooth, and upsample. Will scale maximum smoothing and upsampling times based on remaining time after planning. motion_model_for_search: "DUBIN" # 2D Moore, Von Neumann; Hybrid Dubin, Redds-Shepp; State Lattice set internally cost_travel_multiplier: 2.0 # For 2D: Cost multiplier to apply to search to steer away from high cost areas. Larger values will place in the center of aisles more exactly (if non-`FREE` cost potential field exists) but take slightly longer to compute. To optimize for speed, a value of 1.0 is reasonable. A reasonable tradeoff value is 2.0. A value of 0.0 effective disables steering away from obstacles and acts like a naive binary search A*. - angle_quantization_bins: 64 # For Hybrid/Lattice nodes: Number of angle bins for search, must be 1 for 2D node (no angle search) + angle_quantization_bins: 64 # For Hybrid nodes: Number of angle bins for search, must be 1 for 2D node (no angle search) analytic_expansion_ratio: 3.5 # For Hybrid/Lattice nodes: The ratio to attempt analytic expansions during search for final approach. minimum_turning_radius: 0.40 # For Hybrid/Lattice nodes: minimum turning radius in m of path / vehicle reverse_penalty: 2.1 # For Reeds-Shepp model: penalty to apply if motion is reversing, must be => 1 @@ -138,7 +144,7 @@ This habit actually results in paths produced by NavFn, Global Planner, and now So it is my recommendation in using this package, as well as all other cost-aware search planners available in ROS, to increase your inflation layer cost scale in order to adequately produce a smooth potential across the entire map. For very large open spaces, its fine to have 0-cost areas in the middle, but for halls, aisles, and similar; **please create a smooth potential to provide the best performance**. -### Hybrid-A* Turning Radius' +### Hybrid-A* and State Lattice Turning Radius' A very reasonable and logical assumption would be to set the `minimum_turning_radius` to the kinematic limits of your vehicle. For an ackermann car, that's a physical quantity; while for differential or omni robots, its a bit of a dance around what kind of turns you'd like your robot to be able to make. Obviously setting this to something insanely small (like 20 cm) means you have alot of options, but also probably means the raw output plans won't be very straight and smooth when you have 2+ meter wide aisles to work in. @@ -148,7 +154,7 @@ By default, `0.4m` is the setting which I think is "reasonable" for the smaller ### Costmap Resolutions -We provide for the Hybrid-A\* and 2D A\* implementations a costmap downsampler option. This can be **incredible** beneficial when planning very long paths in larger spaces. The motion models for SE2 planning and neighborhood search in 2D planning is proportional to the costmap resolution. By downsampling it, you can N^2 reduce the number of expansions required to achieve a particular goal. However, the lower the resolution, the larger small obstacles appear and you won't be able to get super close to obstacles. This is a trade-off to make and test. Some numbers I've seen are 2-4x drops in planning CPU time for a 2-3x downsample rate. For long and complex paths, I was able to get it << 100ms at only a 2x downsample rate from a plan that otherwise took upward of 400ms. +We provide for the Hybrid-A\*, State Lattice, and 2D A\* implementations a costmap downsampler option. This can be **incredible** beneficial when planning very long paths in larger spaces. The motion models for SE2 planning and neighborhood search in 2D planning is proportional to the costmap resolution. By downsampling it, you can N^2 reduce the number of expansions required to achieve a particular goal. However, the lower the resolution, the larger small obstacles appear and you won't be able to get super close to obstacles. This is a trade-off to make and test. Some numbers I've seen are 2-4x drops in planning CPU time for a 2-3x downsample rate. For long and complex paths, I was able to get it << 100ms at only a 2x downsample rate from a plan that otherwise took upward of 400ms. I recommend users using a 5cm resolution costmap and playing with the different values of downsampling rate until they achieve what they think is optimal performance (lowest number of expansions vs. necessity to achieve fine goal poses). Then, I would recommend to change the global costmap resolution to this new value. That way you don't own the compute of downsampling and maintaining a higher-resolution costmap that isn't used. diff --git a/nav2_smac_planner/include/nav2_smac_planner/a_star.hpp b/nav2_smac_planner/include/nav2_smac_planner/a_star.hpp index 39d5788b97..84481650a6 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/a_star.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/a_star.hpp @@ -28,6 +28,7 @@ #include "nav2_smac_planner/node_2d.hpp" #include "nav2_smac_planner/node_hybrid.hpp" +#include "nav2_smac_planner/node_lattice.hpp" #include "nav2_smac_planner/node_basic.hpp" #include "nav2_smac_planner/types.hpp" #include "nav2_smac_planner/constants.hpp" diff --git a/nav2_smac_planner/include/nav2_smac_planner/node_basic.hpp b/nav2_smac_planner/include/nav2_smac_planner/node_basic.hpp index 0b69771ef4..bc3b587668 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/node_basic.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/node_basic.hpp @@ -29,6 +29,7 @@ #include "nav2_smac_planner/constants.hpp" #include "nav2_smac_planner/node_hybrid.hpp" +#include "nav2_smac_planner/node_lattice.hpp" #include "nav2_smac_planner/node_2d.hpp" #include "nav2_smac_planner/types.hpp" #include "nav2_smac_planner/collision_checker.hpp" @@ -55,14 +56,14 @@ class NodeBasic { } - typename NodeT::Coordinates pose; // Used by NodeHybrid + typename NodeT::Coordinates pose; // Used by NodeHybrid and NodeLattice NodeT * graph_node_ptr; unsigned int index; }; template class NodeBasic; template class NodeBasic; - +template class NodeBasic; } // namespace nav2_smac_planner #endif // NAV2_SMAC_PLANNER__NODE_BASIC_HPP_ diff --git a/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp b/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp new file mode 100644 index 0000000000..e45658c21b --- /dev/null +++ b/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp @@ -0,0 +1,379 @@ +// Copyright (c) 2020, Samsung Research America +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. Reserved. + +#ifndef NAV2_SMAC_PLANNER__NODE_LATTICE_HPP_ +#define NAV2_SMAC_PLANNER__NODE_LATTICE_HPP_ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "ompl/base/StateSpace.h" + +#include "nav2_smac_planner/constants.hpp" +#include "nav2_smac_planner/types.hpp" +#include "nav2_smac_planner/collision_checker.hpp" +#include "nav2_smac_planner/node_hybrid.hpp" + +namespace nav2_smac_planner +{ + +// forward declare +class NodeLattice; +class NodeHybrid; + +typedef std::pair LatticeMetadata; + +/** + * @struct nav2_smac_planner::LatticeMotionTable + * @brief A table of motion primitives and related functions + */ +struct LatticeMotionTable +{ + /** + * @brief A constructor for nav2_smac_planner::LatticeMotionTable + */ + LatticeMotionTable() {} + + /** + * @brief Initializing state lattice planner's motion model + * @param size_x_in Size of costmap in X + * @param size_y_in Size of costmap in Y + * @param angle_quantization_in Size of costmap in bin sizes + * @param search_info Parameters for searching + */ + void initMotionModel( + unsigned int & size_x_in, + SearchInfo & search_info); + + /** + * @brief Get projections of motion models + * @param node Ptr to NodeLattice + * @return A set of motion poses + */ + MotionPoses getProjections(const NodeLattice * node); + + /** + * @brief Get file metadata needed + * @param lattice_filepath Filepath to the lattice file + * @return A set of metadata containing the number of angular bins + * and the global coordinates minimum turning radius of the primitives + * for use in analytic expansion and heuristic calculation. + */ + static LatticeMetadata getLatticeMetadata(const std::string & lattice_filepath); + + MotionPoses projections; + unsigned int size_x; + unsigned int num_angle_quantization; + float num_angle_quantization_float; + float min_turning_radius; + float bin_size; + float change_penalty; + float non_straight_penalty; + float cost_penalty; + float reverse_penalty; + ompl::base::StateSpacePtr state_space; + std::vector trig_values; + std::string current_lattice_filepath; +}; + +/** + * @class nav2_smac_planner::NodeLattice + * @brief NodeLattice implementation for graph, Hybrid-A* + */ +class NodeLattice +{ +public: + typedef NodeLattice * NodePtr; + typedef std::unique_ptr> Graph; + typedef std::vector NodeVector; + typedef NodeHybrid::Coordinates Coordinates; + typedef NodeHybrid::CoordinateVector CoordinateVector; + + /** + * @brief A constructor for nav2_smac_planner::NodeLattice + * @param index The index of this node for self-reference + */ + explicit NodeLattice(const unsigned int index); + + /** + * @brief A destructor for nav2_smac_planner::NodeLattice + */ + ~NodeLattice(); + + /** + * @brief operator== for comparisons + * @param NodeLattice right hand side node reference + * @return If cell indicies are equal + */ + bool operator==(const NodeLattice & rhs) + { + return this->_index == rhs._index; + } + + /** + * @brief setting continuous coordinate search poses (in partial-cells) + * @param Pose pose + */ + inline void setPose(const Coordinates & pose_in) + { + pose = pose_in; + } + + /** + * @brief Reset method for new search + */ + void reset(); + + /** + * @brief Sets the motion primitive index used to achieve node in search + * @param reference to motion primitive idx + */ + inline void setMotionPrimitiveIndex(const unsigned int & idx) + { + _motion_primitive_index = idx; + } + + /** + * @brief Gets the motion primitive index used to achieve node in search + * @return reference to motion primitive idx + */ + inline unsigned int & getMotionPrimitiveIndex() + { + return _motion_primitive_index; + } + + /** + * @brief Gets the accumulated cost at this node + * @return accumulated cost + */ + inline float & getAccumulatedCost() + { + return _accumulated_cost; + } + + /** + * @brief Sets the accumulated cost at this node + * @param reference to accumulated cost + */ + inline void setAccumulatedCost(const float & cost_in) + { + _accumulated_cost = cost_in; + } + + /** + * @brief Gets the costmap cost at this node + * @return costmap cost + */ + inline float & getCost() + { + return _cell_cost; + } + + /** + * @brief Gets if cell has been visited in search + * @param If cell was visited + */ + inline bool & wasVisited() + { + return _was_visited; + } + + /** + * @brief Sets if cell has been visited in search + */ + inline void visited() + { + _was_visited = true; + } + + /** + * @brief Gets cell index + * @return Reference to cell index + */ + inline unsigned int & getIndex() + { + return _index; + } + + /** + * @brief Check if this node is valid + * @param traverse_unknown If we can explore unknown nodes on the graph + * @return whether this node is valid and collision free + */ + bool isNodeValid(const bool & traverse_unknown, GridCollisionChecker * collision_checker); + + /** + * @brief Get traversal cost of parent node to child node + * @param child Node pointer to child + * @return traversal cost + */ + float getTraversalCost(const NodePtr & child); + + /** + * @brief Get index at coordinates + * @param x X coordinate of point + * @param y Y coordinate of point + * @param angle Theta coordinate of point + * @return Index + */ + static inline unsigned int getIndex( + const unsigned int & x, const unsigned int & y, const unsigned int & angle) + { + // Hybrid-A* and State Lattice share a coordinate system + return NodeHybrid::getIndex( + x, y, angle, motion_table.size_x, + motion_table.num_angle_quantization); + } + + /** + * @brief Get coordinates at index + * @param index Index of point + * @param width Width of costmap + * @param angle_quantization Theta size of costmap + * @return Coordinates + */ + static inline Coordinates getCoords( + const unsigned int & index, + const unsigned int & width, const unsigned int & angle_quantization) + { + // Hybrid-A* and State Lattice share a coordinate system + return NodeHybrid::Coordinates( + (index / angle_quantization) % width, // x + index / (angle_quantization * width), // y + index % angle_quantization); // theta + } + + /** + * @brief Get cost of heuristic of node + * @param node Node index current + * @param node Node index of new + * @param costmap Costmap ptr to use + * @return Heuristic cost between the nodes + */ + static float getHeuristicCost( + const Coordinates & node_coords, + const Coordinates & goal_coordinates, + const nav2_costmap_2d::Costmap2D * costmap); + + /** + * @brief Initialize motion models + * @param motion_model Motion model enum to use + * @param size_x Size of X of graph + * @param size_y Size of y of graph + * @param angle_quantization Size of theta bins of graph + * @param search_info Search info to use + */ + static void initMotionModel( + const MotionModel & motion_model, + unsigned int & size_x, + unsigned int & size_y, + unsigned int & angle_quantization, + SearchInfo & search_info); + + /** + * @brief Compute the SE2 distance heuristic + * @param lookup_table_dim Size, in costmap pixels, of the + * each lookup table dimension to populate + * @param motion_model Motion model to use for state space + * @param dim_3_size Number of quantization bins for caching + * @param search_info Info containing minimum radius to use + */ + static void precomputeDistanceHeuristic( + const float & lookup_table_dim, + const MotionModel & motion_model, + const unsigned int & dim_3_size, + const SearchInfo & search_info) + { + // State Lattice and Hybrid-A* share this heuristics + NodeHybrid::precomputeDistanceHeuristic( + lookup_table_dim, motion_model, dim_3_size, + search_info); + } + + /** + * @brief Compute the wavefront heuristic + * @param costmap Costmap to use + * @param goal_coords Coordinates to start heuristic expansion at + */ + static void resetObstacleHeuristic( + nav2_costmap_2d::Costmap2D * costmap, + const unsigned int & goal_x, const unsigned int & goal_y) + { + // State Lattice and Hybrid-A* share this heuristics + NodeHybrid::resetObstacleHeuristic(costmap, goal_x, goal_y); + } + + /** + * @brief Compute the Obstacle heuristic + * @param node_coords Coordinates to get heuristic at + * @param goal_coords Coordinates to compute heuristic to + * @return heuristic Heuristic value + */ + static float getObstacleHeuristic( + const Coordinates & node_coords, + const Coordinates & goal_coords) + { + return NodeHybrid::getObstacleHeuristic(node_coords, goal_coords); + } + + /** + * @brief Compute the Distance heuristic + * @param node_coords Coordinates to get heuristic at + * @param goal_coords Coordinates to compute heuristic to + * @param obstacle_heuristic Value of the obstacle heuristic to compute + * additional motion heuristics if required + * @return heuristic Heuristic value + */ + static float getDistanceHeuristic( + const Coordinates & node_coords, + const Coordinates & goal_coords, + const float & obstacle_heuristic); + + /** + * @brief Retrieve all valid neighbors of a node. + * @param validity_checker Functor for state validity checking + * @param collision_checker Collision checker to use + * @param traverse_unknown If unknown costs are valid to traverse + * @param neighbors Vector of neighbors to be filled + */ + void getNeighbors( + std::function & validity_checker, + GridCollisionChecker * collision_checker, + const bool & traverse_unknown, + NodeVector & neighbors); + + NodeLattice * parent; + Coordinates pose; + static LatticeMotionTable motion_table; + +private: + float _cell_cost; + float _accumulated_cost; + unsigned int _index; + bool _was_visited; + unsigned int _motion_primitive_index; +}; + +} // namespace nav2_smac_planner + +#endif // NAV2_SMAC_PLANNER__NODE_LATTICE_HPP_ diff --git a/nav2_smac_planner/include/nav2_smac_planner/smac_planner_lattice.hpp b/nav2_smac_planner/include/nav2_smac_planner/smac_planner_lattice.hpp new file mode 100644 index 0000000000..ae46a36116 --- /dev/null +++ b/nav2_smac_planner/include/nav2_smac_planner/smac_planner_lattice.hpp @@ -0,0 +1,109 @@ +// Copyright (c) 2021, Samsung Research America +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. Reserved. + +#ifndef NAV2_SMAC_PLANNER__SMAC_PLANNER_LATTICE_HPP_ +#define NAV2_SMAC_PLANNER__SMAC_PLANNER_LATTICE_HPP_ + +#include +#include +#include + +#include "nav2_smac_planner/a_star.hpp" +#include "nav2_smac_planner/smoother.hpp" +#include "nav2_smac_planner/utils.hpp" +#include "nav2_smac_planner/costmap_downsampler.hpp" +#include "nav_msgs/msg/occupancy_grid.hpp" +#include "nav2_core/global_planner.hpp" +#include "nav_msgs/msg/path.hpp" +#include "nav2_costmap_2d/costmap_2d_ros.hpp" +#include "nav2_costmap_2d/costmap_2d.hpp" +#include "geometry_msgs/msg/pose_stamped.hpp" +#include "nav2_util/lifecycle_node.hpp" +#include "nav2_util/node_utils.hpp" +#include "tf2/utils.h" + +namespace nav2_smac_planner +{ + +class SmacPlannerLattice : public nav2_core::GlobalPlanner +{ +public: + /** + * @brief constructor + */ + SmacPlannerLattice(); + + /** + * @brief destructor + */ + ~SmacPlannerLattice(); + + /** + * @brief Configuring plugin + * @param parent Lifecycle node pointer + * @param name Name of plugin map + * @param tf Shared ptr of TF2 buffer + * @param costmap_ros Costmap2DROS object + */ + void configure( + const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent, + std::string name, std::shared_ptr tf, + std::shared_ptr costmap_ros) override; + + /** + * @brief Cleanup lifecycle node + */ + void cleanup() override; + + /** + * @brief Activate lifecycle node + */ + void activate() override; + + /** + * @brief Deactivate lifecycle node + */ + void deactivate() override; + + /** + * @brief Creating a plan from start and goal poses + * @param start Start pose + * @param goal Goal pose + * @return nav2_msgs::Path of the generated path + */ + nav_msgs::msg::Path createPlan( + const geometry_msgs::msg::PoseStamped & start, + const geometry_msgs::msg::PoseStamped & goal) override; + +protected: + std::unique_ptr> _a_star; + GridCollisionChecker _collision_checker; + std::unique_ptr _smoother; + rclcpp::Clock::SharedPtr _clock; + rclcpp::Logger _logger{rclcpp::get_logger("SmacPlannerLattice")}; + nav2_costmap_2d::Costmap2D * _costmap; + std::unique_ptr _costmap_downsampler; + std::string _global_frame, _name; + float _tolerance; + int _downsampling_factor; + unsigned int _angle_quantizations; + double _angle_bin_size; + bool _downsample_costmap; + rclcpp_lifecycle::LifecyclePublisher::SharedPtr _raw_plan_publisher; + double _max_planning_time; +}; + +} // namespace nav2_smac_planner + +#endif // NAV2_SMAC_PLANNER__SMAC_PLANNER_LATTICE_HPP_ diff --git a/nav2_smac_planner/smac_plugin_lattice.xml b/nav2_smac_planner/smac_plugin_lattice.xml new file mode 100644 index 0000000000..34149230f4 --- /dev/null +++ b/nav2_smac_planner/smac_plugin_lattice.xml @@ -0,0 +1,5 @@ + + + State Lattice SMAC planner + + diff --git a/nav2_smac_planner/src/a_star.cpp b/nav2_smac_planner/src/a_star.cpp index 11d1976dae..c2452a6577 100644 --- a/nav2_smac_planner/src/a_star.cpp +++ b/nav2_smac_planner/src/a_star.cpp @@ -667,5 +667,6 @@ typename AStarAlgorithm::NodePtr AStarAlgorithm::setAnalyticPath // Instantiate algorithm for the supported template types template class AStarAlgorithm; template class AStarAlgorithm; +template class AStarAlgorithm; } // namespace nav2_smac_planner diff --git a/nav2_smac_planner/src/node_lattice.cpp b/nav2_smac_planner/src/node_lattice.cpp new file mode 100644 index 0000000000..d8909388dc --- /dev/null +++ b/nav2_smac_planner/src/node_lattice.cpp @@ -0,0 +1,264 @@ +// Copyright (c) 2020, Samsung Research America +// Copyright (c) 2020, Applied Electric Vehicles Pty Ltd +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. Reserved. + +#include +#include +#include +#include +#include +#include +#include +#include + +#include "ompl/base/ScopedState.h" +#include "ompl/base/spaces/DubinsStateSpace.h" +#include "ompl/base/spaces/ReedsSheppStateSpace.h" + +#include "nav2_smac_planner/node_lattice.hpp" + +using namespace std::chrono; // NOLINT + +namespace nav2_smac_planner +{ + +// defining static member for all instance to share +LatticeMotionTable NodeLattice::motion_table; + +// Each of these tables are the projected motion models through +// time and space applied to the search on the current node in +// continuous map-coordinates (e.g. not meters but partial map cells) +// Currently, these are set to project *at minimum* into a neighboring +// cell. Though this could be later modified to project a certain +// amount of time or particular distance forward. +void LatticeMotionTable::initMotionModel( + unsigned int & size_x_in, + SearchInfo & search_info) +{ + size_x = size_x_in; + + if (current_lattice_filepath == search_info.lattice_filepath) { + return; + } + + size_x = size_x_in; + change_penalty = search_info.change_penalty; + non_straight_penalty = search_info.non_straight_penalty; + cost_penalty = search_info.cost_penalty; + reverse_penalty = search_info.reverse_penalty; + current_lattice_filepath = search_info.lattice_filepath; + + // TODO(Matt) read in file, precompute based on orientation bins for lookup at runtime + // file is `search_info.lattice_filepath`, to be read in from plugin and provided here. + + // TODO(Matt) create a state_space with the max turning rad primitive within the file + // (or another -- mid?) + // to use for analytic expansions and heuristic generation. Potentially make both an + // extreme and a passive one? + + // TODO(Matt) populate num_angle_quantization, size_x, min_turning_radius, trig_values, + // all of the member variables of LatticeMotionTable +} + +MotionPoses LatticeMotionTable::getProjections(const NodeLattice * node) +{ + return MotionPoses(); // TODO(Matt) lookup at run time the primitives to use at node +} + +LatticeMetadata LatticeMotionTable::getLatticeMetadata(const std::string & lattice_filepath) +{ + // TODO(Matt) from this file extract and return the number of angle bins and + // turning radius in global coordinates, respectively. + // world coordinates meaning meters, not cells + return {0 /*num bins*/, 0 /*turning rad*/}; +} + +NodeLattice::NodeLattice(const unsigned int index) +: parent(nullptr), + pose(0.0f, 0.0f, 0.0f), + _cell_cost(std::numeric_limits::quiet_NaN()), + _accumulated_cost(std::numeric_limits::max()), + _index(index), + _was_visited(false) +{ +} + +NodeLattice::~NodeLattice() +{ + parent = nullptr; +} + +void NodeLattice::reset() +{ + parent = nullptr; + _cell_cost = std::numeric_limits::quiet_NaN(); + _accumulated_cost = std::numeric_limits::max(); + _was_visited = false; + pose.x = 0.0f; + pose.y = 0.0f; + pose.theta = 0.0f; +} + +bool NodeLattice::isNodeValid( + const bool & traverse_unknown, + GridCollisionChecker * collision_checker) +{ + // TODO(steve) if primitive longer than 1.5 cells, then we need to split into 1 cell + // increments and collision check across them + if (collision_checker->inCollision( + this->pose.x, this->pose.y, this->pose.theta * motion_table.bin_size, traverse_unknown)) + { + return false; + } + + _cell_cost = collision_checker->getCost(); + return true; +} + +float NodeLattice::getTraversalCost(const NodePtr & child) +{ + return 0.0; // TODO(josh): cost of different angles, changing, nonstraight, backwards, distance +} + +float NodeLattice::getHeuristicCost( + const Coordinates & node_coords, + const Coordinates & goal_coords, + const nav2_costmap_2d::Costmap2D * costmap) +{ + // get obstacle heuristic value + const float obstacle_heuristic = getObstacleHeuristic(node_coords, goal_coords); + const float distance_heuristic = + getDistanceHeuristic(node_coords, goal_coords, obstacle_heuristic); + return std::max(obstacle_heuristic, distance_heuristic); +} + +float NodeLattice::getDistanceHeuristic( + const Coordinates & node_coords, + const Coordinates & goal_coords, + const float & obstacle_heuristic) +{ + // rotate and translate node_coords such that goal_coords relative is (0,0,0) + // Due to the rounding involved in exact cell increments for caching, + // this is not an exact replica of a live heuristic, but has bounded error. + // (Usually less than 1 cell length) + + // This angle is negative since we are de-rotating the current node + // by the goal angle; cos(-th) = cos(th) & sin(-th) = -sin(th) + const TrigValues & trig_vals = motion_table.trig_values[goal_coords.theta]; + const float cos_th = trig_vals.first; + const float sin_th = -trig_vals.second; + const float dx = node_coords.x - goal_coords.x; + const float dy = node_coords.y - goal_coords.y; + + double dtheta_bin = node_coords.theta - goal_coords.theta; + if (dtheta_bin > motion_table.num_angle_quantization) { + dtheta_bin -= motion_table.num_angle_quantization; + } else if (dtheta_bin < 0) { + dtheta_bin += motion_table.num_angle_quantization; + } + + Coordinates node_coords_relative( + round(dx * cos_th - dy * sin_th), + round(dx * sin_th + dy * cos_th), + round(dtheta_bin)); + + // Check if the relative node coordinate is within the localized window around the goal + // to apply the distance heuristic. Since the lookup table is contains only the positive + // X axis, we mirror the Y and theta values across the X axis to find the heuristic values. + float motion_heuristic = 0.0; + const int floored_size = floor(NodeHybrid::size_lookup / 2.0); + const int ceiling_size = ceil(NodeHybrid::size_lookup / 2.0); + const float mirrored_relative_y = abs(node_coords_relative.y); + if (abs(node_coords_relative.x) < floored_size && mirrored_relative_y < floored_size) { + // Need to mirror angle if Y coordinate was mirrored + int theta_pos; + if (node_coords_relative.y < 0.0) { + theta_pos = motion_table.num_angle_quantization - node_coords_relative.theta; + } else { + theta_pos = node_coords_relative.theta; + } + const int x_pos = node_coords_relative.x + floored_size; + const int y_pos = static_cast(mirrored_relative_y); + const int index = + x_pos * ceiling_size * motion_table.num_angle_quantization + + y_pos * motion_table.num_angle_quantization + + theta_pos; + motion_heuristic = NodeHybrid::dist_heuristic_lookup_table[index]; + } else if (obstacle_heuristic == 0.0) { + static ompl::base::ScopedState<> from(motion_table.state_space), to(motion_table.state_space); + to[0] = goal_coords.x; + to[1] = goal_coords.y; + to[2] = goal_coords.theta * motion_table.num_angle_quantization; + from[0] = node_coords.x; + from[1] = node_coords.y; + from[2] = node_coords.theta * motion_table.num_angle_quantization; + motion_heuristic = motion_table.state_space->distance(from(), to()); + } + + return motion_heuristic; +} + +void NodeLattice::initMotionModel( + const MotionModel & motion_model, + unsigned int & size_x, + unsigned int & /*size_y*/, + unsigned int & /*num_angle_quantization*/, + SearchInfo & search_info) +{ + if (motion_model != MotionModel::STATE_LATTICE) { + throw std::runtime_error( + "Invalid motion model for Lattice node. Please select" + " STATE_LATTICE and provide a valid lattice file."); + } + + motion_table.initMotionModel(size_x, search_info); +} + +void NodeLattice::getNeighbors( + std::function & NeighborGetter, + GridCollisionChecker * collision_checker, + const bool & traverse_unknown, + NodeVector & neighbors) +{ + unsigned int index = 0; + NodePtr neighbor = nullptr; + Coordinates initial_node_coords; + const MotionPoses motion_projections = motion_table.getProjections(this); + + for (unsigned int i = 0; i != motion_projections.size(); i++) { + index = NodeLattice::getIndex( + static_cast(motion_projections[i]._x), + static_cast(motion_projections[i]._y), + static_cast(motion_projections[i]._theta)); + + if (NeighborGetter(index, neighbor) && !neighbor->wasVisited()) { + // For State Lattice, the poses are exact bin increments and the pose + // can be derived from the index alone. + // However, we store them as if they were continuous so that it may be + // leveraged by the analytic expansion tool to accelerate goal approaches, + // collision checking, and backtracing (even if not strictly necessary). + neighbor->setPose( + Coordinates( + motion_projections[i]._x, + motion_projections[i]._y, + motion_projections[i]._theta)); + if (neighbor->isNodeValid(traverse_unknown, collision_checker)) { + neighbor->setMotionPrimitiveIndex(i); + neighbors.push_back(neighbor); + } + } + } +} + +} // namespace nav2_smac_planner diff --git a/nav2_smac_planner/src/smac_planner_lattice.cpp b/nav2_smac_planner/src/smac_planner_lattice.cpp new file mode 100644 index 0000000000..eb12db3fc5 --- /dev/null +++ b/nav2_smac_planner/src/smac_planner_lattice.cpp @@ -0,0 +1,318 @@ +// Copyright (c) 2021, Samsung Research America +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. Reserved. + +#include +#include +#include +#include +#include + +#include "Eigen/Core" +#include "nav2_smac_planner/smac_planner_lattice.hpp" + +// #define BENCHMARK_TESTING + +namespace nav2_smac_planner +{ + +using namespace std::chrono; // NOLINT + +SmacPlannerLattice::SmacPlannerLattice() +: _a_star(nullptr), + _collision_checker(nullptr, 1), + _smoother(nullptr), + _costmap(nullptr), + _costmap_downsampler(nullptr) +{ +} + +SmacPlannerLattice::~SmacPlannerLattice() +{ + RCLCPP_INFO( + _logger, "Destroying plugin %s of type SmacPlannerLattice", + _name.c_str()); +} + +void SmacPlannerLattice::configure( + const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent, + std::string name, std::shared_ptr/*tf*/, + std::shared_ptr costmap_ros) +{ + auto node = parent.lock(); + _logger = node->get_logger(); + _clock = node->get_clock(); + _costmap = costmap_ros->getCostmap(); + _name = name; + _global_frame = costmap_ros->getGlobalFrameID(); + + bool allow_unknown; + int max_iterations; + int angle_quantizations; + int lookup_table_size; + SearchInfo search_info; + std::string motion_model_for_search; + + // General planner params + nav2_util::declare_parameter_if_not_declared( + node, name + ".downsample_costmap", rclcpp::ParameterValue(false)); + node->get_parameter(name + ".downsample_costmap", _downsample_costmap); + nav2_util::declare_parameter_if_not_declared( + node, name + ".downsampling_factor", rclcpp::ParameterValue(1)); + node->get_parameter(name + ".downsampling_factor", _downsampling_factor); + + nav2_util::declare_parameter_if_not_declared( + node, name + ".allow_unknown", rclcpp::ParameterValue(true)); + node->get_parameter(name + ".allow_unknown", allow_unknown); + nav2_util::declare_parameter_if_not_declared( + node, name + ".max_iterations", rclcpp::ParameterValue(1000000)); + node->get_parameter(name + ".max_iterations", max_iterations); + + nav2_util::declare_parameter_if_not_declared( + node, name + ".lattice_filepath", rclcpp::ParameterValue(std::string(""))); + node->get_parameter(name + ".lattice_filepath", search_info.lattice_filepath); + nav2_util::declare_parameter_if_not_declared( + node, name + ".cache_obstacle_heuristic", rclcpp::ParameterValue(true)); + node->get_parameter(name + ".cache_obstacle_heuristic", search_info.cache_obstacle_heuristic); + nav2_util::declare_parameter_if_not_declared( + node, name + ".reverse_penalty", rclcpp::ParameterValue(2.0)); + node->get_parameter(name + ".reverse_penalty", search_info.reverse_penalty); + nav2_util::declare_parameter_if_not_declared( + node, name + ".change_penalty", rclcpp::ParameterValue(0.15)); + node->get_parameter(name + ".change_penalty", search_info.change_penalty); + nav2_util::declare_parameter_if_not_declared( + node, name + ".non_straight_penalty", rclcpp::ParameterValue(1.50)); + node->get_parameter(name + ".non_straight_penalty", search_info.non_straight_penalty); + nav2_util::declare_parameter_if_not_declared( + node, name + ".cost_penalty", rclcpp::ParameterValue(1.7)); + node->get_parameter(name + ".cost_penalty", search_info.cost_penalty); + nav2_util::declare_parameter_if_not_declared( + node, name + ".analytic_expansion_ratio", rclcpp::ParameterValue(3.5)); + node->get_parameter(name + ".analytic_expansion_ratio", search_info.analytic_expansion_ratio); + + nav2_util::declare_parameter_if_not_declared( + node, name + ".max_planning_time", rclcpp::ParameterValue(5.0)); + node->get_parameter(name + ".max_planning_time", _max_planning_time); + nav2_util::declare_parameter_if_not_declared( + node, name + ".lookup_table_size", rclcpp::ParameterValue(20.0)); + node->get_parameter(name + ".lookup_table_size", lookup_table_size); + + LatticeMetadata metadata = LatticeMotionTable::getLatticeMetadata(search_info.lattice_filepath); + _angle_quantizations = metadata.first; + _angle_bin_size = 2.0 * M_PI / static_cast(_angle_quantizations); + float min_turning_radius = metadata.second; + + MotionModel motion_model = MotionModel::STATE_LATTICE; + + if (max_iterations <= 0) { + RCLCPP_INFO( + _logger, "maximum iteration selected as <= 0, " + "disabling maximum iterations."); + max_iterations = std::numeric_limits::max(); + } + + float lookup_table_dim = + static_cast(lookup_table_size) / + static_cast(_costmap->getResolution() * _downsampling_factor); + + // Initialize collision checker + _collision_checker = GridCollisionChecker(_costmap, _angle_quantizations); + _collision_checker.setFootprint( + costmap_ros->getRobotFootprint(), + costmap_ros->getUseRadius(), + findCircumscribedCost(costmap_ros)); + + // Initialize A* template + _a_star = std::make_unique>(motion_model, search_info); + _a_star->initialize( + allow_unknown, + max_iterations, + std::numeric_limits::max(), + lookup_table_dim, + _angle_quantizations); + + // Initialize path smoother + SmootherParams params; + params.get(node, name); + _smoother = std::make_unique(params); + _smoother->initialize(min_turning_radius); + + // Initialize costmap downsampler + if (_downsample_costmap && _downsampling_factor > 1) { + std::string topic_name = "downsampled_costmap"; + _costmap_downsampler = std::make_unique(); + _costmap_downsampler->on_configure( + node, _global_frame, topic_name, _costmap, _downsampling_factor); + } + + _raw_plan_publisher = node->create_publisher("unsmoothed_plan", 1); + + RCLCPP_INFO( + _logger, "Configured plugin %s of type SmacPlannerLattice with " + "maximum iterations %i, " + "and %s. Using motion model: %s. State lattice file: %s.", + _name.c_str(), max_iterations, + allow_unknown ? "allowing unknown traversal" : "not allowing unknown traversal", + toString(motion_model).c_str(), search_info.lattice_filepath.c_str()); +} + +void SmacPlannerLattice::activate() +{ + RCLCPP_INFO( + _logger, "Activating plugin %s of type SmacPlannerLattice", + _name.c_str()); + _raw_plan_publisher->on_activate(); + if (_costmap_downsampler) { + _costmap_downsampler->on_activate(); + } +} + +void SmacPlannerLattice::deactivate() +{ + RCLCPP_INFO( + _logger, "Deactivating plugin %s of type SmacPlannerLattice", + _name.c_str()); + _raw_plan_publisher->on_deactivate(); + if (_costmap_downsampler) { + _costmap_downsampler->on_deactivate(); + } +} + +void SmacPlannerLattice::cleanup() +{ + RCLCPP_INFO( + _logger, "Cleaning up plugin %s of type SmacPlannerLattice", + _name.c_str()); + _a_star.reset(); + _smoother.reset(); + _costmap_downsampler->on_cleanup(); + _costmap_downsampler.reset(); + _raw_plan_publisher.reset(); +} + +nav_msgs::msg::Path SmacPlannerLattice::createPlan( + const geometry_msgs::msg::PoseStamped & start, + const geometry_msgs::msg::PoseStamped & goal) +{ + steady_clock::time_point a = steady_clock::now(); + + std::unique_lock lock(*(_costmap->getMutex())); + + // Downsample costmap, if required + nav2_costmap_2d::Costmap2D * costmap = _costmap; + if (_costmap_downsampler) { + costmap = _costmap_downsampler->downsample(_downsampling_factor); + _collision_checker.setCostmap(costmap); + } + + // Set collision checker and costmap information + _a_star->setCollisionChecker(&_collision_checker); + + // Set starting point, in A* bin search coordinates + unsigned int mx, my; + costmap->worldToMap(start.pose.position.x, start.pose.position.y, mx, my); + double orientation_bin = tf2::getYaw(start.pose.orientation) / _angle_bin_size; + while (orientation_bin < 0.0) { + orientation_bin += static_cast(_angle_quantizations); + } + unsigned int orientation_bin_id = static_cast(floor(orientation_bin)); + _a_star->setStart(mx, my, orientation_bin_id); + + // Set goal point, in A* bin search coordinates + costmap->worldToMap(goal.pose.position.x, goal.pose.position.y, mx, my); + orientation_bin = tf2::getYaw(goal.pose.orientation) / _angle_bin_size; + while (orientation_bin < 0.0) { + orientation_bin += static_cast(_angle_quantizations); + } + orientation_bin_id = static_cast(floor(orientation_bin)); + _a_star->setGoal(mx, my, orientation_bin_id); + + // Setup message + nav_msgs::msg::Path plan; + plan.header.stamp = _clock->now(); + plan.header.frame_id = _global_frame; + geometry_msgs::msg::PoseStamped pose; + pose.header = plan.header; + pose.pose.position.z = 0.0; + pose.pose.orientation.x = 0.0; + pose.pose.orientation.y = 0.0; + pose.pose.orientation.z = 0.0; + pose.pose.orientation.w = 1.0; + + // Compute plan + NodeLattice::CoordinateVector path; + int num_iterations = 0; + std::string error; + try { + if (!_a_star->createPath(path, num_iterations, 0 /*no tolerance*/)) { + if (num_iterations < _a_star->getMaxIterations()) { + error = std::string("no valid path found"); + } else { + error = std::string("exceeded maximum iterations"); + } + } + } catch (const std::runtime_error & e) { + error = "invalid use: "; + error += e.what(); + } + + if (!error.empty()) { + RCLCPP_WARN( + _logger, + "%s: failed to create plan, %s.", + _name.c_str(), error.c_str()); + return plan; + } + + // Convert to world coordinates + plan.poses.reserve(path.size()); + for (int i = path.size() - 1; i >= 0; --i) { + pose.pose = getWorldCoords(path[i].x, path[i].y, costmap); + pose.pose.orientation = getWorldOrientation(path[i].theta, _angle_bin_size); + plan.poses.push_back(pose); + } + + // Publish raw path for debug + if (_raw_plan_publisher->get_subscription_count() > 0) { + _raw_plan_publisher->publish(plan); + } + + // Find how much time we have left to do smoothing + steady_clock::time_point b = steady_clock::now(); + duration time_span = duration_cast>(b - a); + double time_remaining = _max_planning_time - static_cast(time_span.count()); + +#ifdef BENCHMARK_TESTING + std::cout << "It took " << time_span.count() * 1000 << + " milliseconds with " << num_iterations << " iterations." << std::endl; +#endif + + // Smooth plan + if (num_iterations > 1 && plan.poses.size() > 6) { + _smoother->smooth(plan, costmap, time_remaining); + } + +#ifdef BENCHMARK_TESTING + steady_clock::time_point c = steady_clock::now(); + duration time_span2 = duration_cast>(c - b); + std::cout << "It took " << time_span2.count() * 1000 << + " milliseconds to smooth path." << std::endl; +#endif + + return plan; +} + +} // namespace nav2_smac_planner + +#include "pluginlib/class_list_macros.hpp" +PLUGINLIB_EXPORT_CLASS(nav2_smac_planner::SmacPlannerLattice, nav2_core::GlobalPlanner) diff --git a/nav2_smac_planner/test/test_nodebasic.cpp b/nav2_smac_planner/test/test_nodebasic.cpp index 965246d67c..00aea82465 100644 --- a/nav2_smac_planner/test/test_nodebasic.cpp +++ b/nav2_smac_planner/test/test_nodebasic.cpp @@ -25,6 +25,7 @@ #include "nav2_smac_planner/node_basic.hpp" #include "nav2_smac_planner/node_2d.hpp" #include "nav2_smac_planner/node_hybrid.hpp" +#include "nav2_smac_planner/node_lattice.hpp" #include "nav2_smac_planner/collision_checker.hpp" class RclCppFixture @@ -46,4 +47,9 @@ TEST(NodeBasicTest, test_node_basic) EXPECT_EQ(node2.index, 100u); EXPECT_EQ(node2.graph_node_ptr, nullptr); + + nav2_smac_planner::NodeBasic node3(200); + + EXPECT_EQ(node3.index, 200u); + EXPECT_EQ(node3.graph_node_ptr, nullptr); } From 42bb3c874a95f127cf0ff85013a6cd69c282d253 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Wed, 6 Oct 2021 15:23:43 -0700 Subject: [PATCH 02/31] refactoring to remove analytic expansion into its own object --- nav2_smac_planner/CMakeLists.txt | 3 + .../include/nav2_smac_planner/a_star.hpp | 48 +--- .../nav2_smac_planner/analytic_expansion.hpp | 119 ++++++++ .../nav2_smac_planner/node_lattice.hpp | 1 + .../include/nav2_smac_planner/types.hpp | 1 + nav2_smac_planner/src/a_star.cpp | 210 +------------- nav2_smac_planner/src/analytic_expansion.cpp | 260 ++++++++++++++++++ nav2_smac_planner/src/node_lattice.cpp | 4 + .../src/smac_planner_lattice.cpp | 4 +- 9 files changed, 400 insertions(+), 250 deletions(-) create mode 100644 nav2_smac_planner/include/nav2_smac_planner/analytic_expansion.hpp create mode 100644 nav2_smac_planner/src/analytic_expansion.cpp diff --git a/nav2_smac_planner/CMakeLists.txt b/nav2_smac_planner/CMakeLists.txt index acd2ccc69b..b5ef8b8d29 100644 --- a/nav2_smac_planner/CMakeLists.txt +++ b/nav2_smac_planner/CMakeLists.txt @@ -69,6 +69,7 @@ set(dependencies add_library(${library_name} SHARED src/smac_planner_hybrid.cpp src/a_star.cpp + src/analytic_expansion.cpp src/node_hybrid.cpp src/node_lattice.cpp src/costmap_downsampler.cpp @@ -86,6 +87,7 @@ ament_target_dependencies(${library_name} add_library(${library_name}_2d SHARED src/smac_planner_2d.cpp src/a_star.cpp + src/analytic_expansion.cpp src/node_hybrid.cpp src/node_lattice.cpp src/costmap_downsampler.cpp @@ -103,6 +105,7 @@ ament_target_dependencies(${library_name}_2d add_library(${library_name}_lattice SHARED src/smac_planner_lattice.cpp src/a_star.cpp + src/analytic_expansion.cpp src/node_hybrid.cpp src/node_lattice.cpp src/costmap_downsampler.cpp diff --git a/nav2_smac_planner/include/nav2_smac_planner/a_star.hpp b/nav2_smac_planner/include/nav2_smac_planner/a_star.hpp index 84481650a6..44fd4ce72d 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/a_star.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/a_star.hpp @@ -26,6 +26,7 @@ #include "nav2_costmap_2d/costmap_2d.hpp" +#include "nav2_smac_planner/analytic_expansion.hpp" #include "nav2_smac_planner/node_2d.hpp" #include "nav2_smac_planner/node_hybrid.hpp" #include "nav2_smac_planner/node_lattice.hpp" @@ -53,27 +54,6 @@ class AStarAlgorithm typedef typename NodeVector::iterator NeighborIterator; typedef std::function NodeGetter; - /** - * @struct nav2_smac_planner::AnalyticExpansionNodes - * @brief Analytic expansion nodes and associated metadata - */ - - struct AnalyticExpansionNode - { - AnalyticExpansionNode( - NodePtr & node_in, - Coordinates & initial_coords_in, - Coordinates & proposed_coords_in) - : node(node_in), initial_coords(initial_coords_in), proposed_coords(proposed_coords_in) - {} - - NodePtr node; - Coordinates initial_coords; - Coordinates proposed_coords; - }; - - typedef std::vector AnalyticExpansionNodes; - /** * @struct nav2_smac_planner::NodeComparator * @brief Node comparison for priority queue sorting @@ -259,31 +239,6 @@ class AStarAlgorithm */ inline void clearGraph(); - /** - * @brief Attempt an analytic path completion - * @return Node pointer reference to goal node if successful, else - * return nullptr - */ - NodePtr tryAnalyticExpansion( - const NodePtr & current_node, - const NodeGetter & getter, int & iterations, int & best_cost); - - /** - * @brief Perform an analytic path expansion to the goal - * @param node The node to start the analytic path from - * @param getter The function object that gets valid nodes from the graph - * @return A set of analytically expanded nodes to the goal from current node, if possible - */ - AnalyticExpansionNodes getAnalyticPath(const NodePtr & node, const NodeGetter & getter); - - /** - * @brief Takes final analytic expansion and appends to current expanded node - * @param node The node to start the analytic path from - * @param expanded_nodes Expanded nodes to append to end of current search path - * @return Node pointer to goal node if successful, else return nullptr - */ - NodePtr setAnalyticPath(const NodePtr & node, const AnalyticExpansionNodes & expanded_nodes); - bool _traverse_unknown; int _max_iterations; int _max_on_approach_iterations; @@ -305,6 +260,7 @@ class AStarAlgorithm GridCollisionChecker * _collision_checker; nav2_costmap_2d::Costmap2D * _costmap; + std::unique_ptr> _expander; }; } // namespace nav2_smac_planner diff --git a/nav2_smac_planner/include/nav2_smac_planner/analytic_expansion.hpp b/nav2_smac_planner/include/nav2_smac_planner/analytic_expansion.hpp new file mode 100644 index 0000000000..b45127de1e --- /dev/null +++ b/nav2_smac_planner/include/nav2_smac_planner/analytic_expansion.hpp @@ -0,0 +1,119 @@ +// Copyright (c) 2021, Samsung Research America +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. Reserved. + +#ifndef NAV2_SMAC_PLANNER__ANALYTIC_EXPANSION_HPP_ +#define NAV2_SMAC_PLANNER__ANALYTIC_EXPANSION_HPP_ + +#include + +#include "nav2_smac_planner/node_2d.hpp" +#include "nav2_smac_planner/node_hybrid.hpp" +#include "nav2_smac_planner/node_lattice.hpp" +#include "nav2_smac_planner/types.hpp" +#include "nav2_smac_planner/constants.hpp" + +namespace nav2_smac_planner +{ + +template +class AnalyticExpansion +{ +public: + + typedef NodeT * NodePtr; + typedef typename NodeT::Coordinates Coordinates; + typedef std::function NodeGetter; + + /** + * @struct nav2_smac_planner::AnalyticExpansion::AnalyticExpansionNodes + * @brief Analytic expansion nodes and associated metadata + */ + struct AnalyticExpansionNode + { + AnalyticExpansionNode( + NodePtr & node_in, + Coordinates & initial_coords_in, + Coordinates & proposed_coords_in) + : node(node_in), + initial_coords(initial_coords_in), + proposed_coords(proposed_coords_in) + { + } + + NodePtr node; + Coordinates initial_coords; + Coordinates proposed_coords; + }; + + typedef std::vector AnalyticExpansionNodes; + + /** + * @brief Constructor for analytic expansion object + */ + AnalyticExpansion( + const MotionModel & motion_model, + const SearchInfo & search_info, + const bool & traverse_unknown, + const unsigned int & dim_3_size); + + /** + * @brief Sets the collision checker and costmap to use in expansion validation + * @param collision_checker Collision checker to use + */ + void setCollisionChecker(GridCollisionChecker * collision_checker); + + /** + * @brief Attempt an analytic path completion + * @param node The node to start the analytic path from + * @param goal The goal node to plan to + * @param getter Gets a node at a set of coordinates + * @param iterations Iterations to run over + * @param best_cost Best heuristic cost to propertionally expand more closer to the goal + * @return Node pointer reference to goal node if successful, else + * return nullptr + */ + NodePtr tryAnalyticExpansion( + const NodePtr & current_node, + const NodePtr & goal_node, + const NodeGetter & getter, int & iterations, int & best_cost); + + /** + * @brief Perform an analytic path expansion to the goal + * @param node The node to start the analytic path from + * @param goal The goal node to plan to + * @param getter The function object that gets valid nodes from the graph + * @return A set of analytically expanded nodes to the goal from current node, if possible + */ + AnalyticExpansionNodes getAnalyticPath(const NodePtr & node, const NodePtr & goal, const NodeGetter & getter); + + /** + * @brief Takes final analytic expansion and appends to current expanded node + * @param node The node to start the analytic path from + * @param goal The goal node to plan to + * @param expanded_nodes Expanded nodes to append to end of current search path + * @return Node pointer to goal node if successful, else return nullptr + */ + NodePtr setAnalyticPath(const NodePtr & node, const NodePtr & goal, const AnalyticExpansionNodes & expanded_nodes); + +protected: + MotionModel _motion_model; + SearchInfo _search_info; + bool _traverse_unknown; + unsigned int _dim_3_size; + GridCollisionChecker * _collision_checker; +}; + +} // namespace nav2_smac_planner + +#endif // NAV2_SMAC_PLANNER__ANALYTIC_EXPANSION_HPP_ diff --git a/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp b/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp index e45658c21b..fb21f5fe3a 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp @@ -90,6 +90,7 @@ struct LatticeMotionTable float non_straight_penalty; float cost_penalty; float reverse_penalty; + bool allow_reverse_expansion; ompl::base::StateSpacePtr state_space; std::vector trig_values; std::string current_lattice_filepath; diff --git a/nav2_smac_planner/include/nav2_smac_planner/types.hpp b/nav2_smac_planner/include/nav2_smac_planner/types.hpp index dffc88062b..c5b2e1d823 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/types.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/types.hpp @@ -42,6 +42,7 @@ struct SearchInfo float analytic_expansion_ratio; std::string lattice_filepath; bool cache_obstacle_heuristic; + bool allow_reverse_expansion; }; /** diff --git a/nav2_smac_planner/src/a_star.cpp b/nav2_smac_planner/src/a_star.cpp index c2452a6577..09f450e36e 100644 --- a/nav2_smac_planner/src/a_star.cpp +++ b/nav2_smac_planner/src/a_star.cpp @@ -14,11 +14,6 @@ // limitations under the License. Reserved. #include - -#include -#include -#include - #include #include #include @@ -71,6 +66,8 @@ void AStarAlgorithm::initialize( _max_on_approach_iterations = max_on_approach_iterations; NodeT::precomputeDistanceHeuristic(lookup_table_size, _motion_model, dim_3_size, _search_info); _dim3_size = dim_3_size; + _expander = std::make_unique>( + _motion_model, _search_info, _traverse_unknown, _dim3_size); } template<> @@ -89,6 +86,8 @@ void AStarAlgorithm::initialize( throw std::runtime_error("Node type Node2D cannot be given non-1 dim 3 quantization."); } _dim3_size = dim_3_size; + _expander = std::make_unique>( + _motion_model, _search_info, _traverse_unknown, _dim3_size); } template @@ -106,6 +105,7 @@ void AStarAlgorithm::setCollisionChecker(GridCollisionChecker * collision _y_size = y_size; NodeT::initMotionModel(_motion_model, _x_size, _y_size, _dim3_size, _search_info); } + _expander->setCollisionChecker(collision_checker); } template @@ -264,8 +264,8 @@ bool AStarAlgorithm::createPath( // 2.1) Use an analytic expansion (if available) to generate a path expansion_result = nullptr; - expansion_result = tryAnalyticExpansion( - current_node, neighborGetter, analytic_iterations, closest_distance); + expansion_result = _expander->tryAnalyticExpansion( + current_node, getGoal(), neighborGetter, analytic_iterations, closest_distance); if (expansion_result != nullptr) { current_node = expansion_result; } @@ -468,202 +468,6 @@ unsigned int & AStarAlgorithm::getSizeDim3() return _dim3_size; } -template -typename AStarAlgorithm::NodePtr AStarAlgorithm::tryAnalyticExpansion( - const NodePtr & current_node, const NodeGetter & getter, int & analytic_iterations, - int & closest_distance) -{ - // This must be a NodeHybrid or NodeLattice if we are using these motion models - if (_motion_model == MotionModel::DUBIN || _motion_model == MotionModel::REEDS_SHEPP || - _motion_model == MotionModel::STATE_LATTICE) - { - // See if we are closer and should be expanding more often - const Coordinates node_coords = - NodeT::getCoords(current_node->getIndex(), getSizeX(), getSizeDim3()); - closest_distance = std::min( - closest_distance, - static_cast(NodeT::getHeuristicCost(node_coords, _goal_coordinates, _costmap))); - - // We want to expand at a rate of d/expansion_ratio, - // but check to see if we are so close that we would be expanding every iteration - // If so, limit it to the expansion ratio (rounded up) - int desired_iterations = std::max( - static_cast(closest_distance / _search_info.analytic_expansion_ratio), - static_cast(std::ceil(_search_info.analytic_expansion_ratio))); - - // If we are closer now, we should update the target number of iterations to go - analytic_iterations = - std::min(analytic_iterations, desired_iterations); - - // Always run the expansion on the first run in case there is a - // trivial path to be found - if (analytic_iterations <= 0) { - // Reset the counter and try the analytic path expansion - analytic_iterations = desired_iterations; - AnalyticExpansionNodes analytic_nodes = getAnalyticPath(current_node, getter); - if (!analytic_nodes.empty()) { - // If we have a valid path, attempt to refine it - NodePtr node = current_node; - NodePtr test_node = current_node; - AnalyticExpansionNodes refined_analytic_nodes; - for (int i = 0; i < 8; i++) { - // Attempt to create better paths in 5 node increments, need to make sure - // they exist for each in order to do so (maximum of 40 points back). - if (test_node->parent && test_node->parent->parent && test_node->parent->parent->parent && - test_node->parent->parent->parent->parent && - test_node->parent->parent->parent->parent->parent) - { - test_node = test_node->parent->parent->parent->parent->parent; - refined_analytic_nodes = getAnalyticPath(test_node, getter); - if (refined_analytic_nodes.empty()) { - break; - } - analytic_nodes = refined_analytic_nodes; - node = test_node; - } else { - break; - } - } - - return setAnalyticPath(node, analytic_nodes); - } - } - - analytic_iterations--; - } - - // No valid motion model - return nullptr - return NodePtr(nullptr); -} - -template -typename AStarAlgorithm::AnalyticExpansionNodes AStarAlgorithm::getAnalyticPath( - const NodePtr & node, - const NodeGetter & node_getter) -{ - static ompl::base::ScopedState<> from(node->motion_table.state_space), to( - node->motion_table.state_space), s(node->motion_table.state_space); - from[0] = node->pose.x; - from[1] = node->pose.y; - from[2] = node->pose.theta * node->motion_table.bin_size; - to[0] = _goal_coordinates.x; - to[1] = _goal_coordinates.y; - to[2] = _goal_coordinates.theta * node->motion_table.bin_size; - - float d = node->motion_table.state_space->distance(from(), to()); - - // A move of sqrt(2) is guaranteed to be in a new cell - static const float sqrt_2 = std::sqrt(2.); - unsigned int num_intervals = std::floor(d / sqrt_2); - - AnalyticExpansionNodes possible_nodes; - // When "from" and "to" are zero or one cell away, - // num_intervals == 0 - possible_nodes.reserve(num_intervals); // We won't store this node or the goal - std::vector reals; - - // Pre-allocate - NodePtr prev(node); - unsigned int index = 0; - NodePtr next(nullptr); - float angle = 0.0; - Coordinates proposed_coordinates; - bool failure = false; - - // Check intermediary poses (non-goal, non-start) - for (float i = 1; i < num_intervals; i++) { - node->motion_table.state_space->interpolate(from(), to(), i / num_intervals, s()); - reals = s.reals(); - angle = reals[2] / node->motion_table.bin_size; - while (angle < 0.0) { - angle += node->motion_table.num_angle_quantization_float; - } - while (angle >= node->motion_table.num_angle_quantization_float) { - angle -= node->motion_table.num_angle_quantization_float; - } - // Turn the pose into a node, and check if it is valid - index = NodeT::getIndex( - static_cast(reals[0]), - static_cast(reals[1]), - static_cast(angle)); - // Get the node from the graph - if (node_getter(index, next)) { - Coordinates initial_node_coords = next->pose; - proposed_coordinates = {static_cast(reals[0]), static_cast(reals[1]), angle}; - next->setPose(proposed_coordinates); - if (next->isNodeValid(_traverse_unknown, _collision_checker) && next != prev) { - // Save the node, and its previous coordinates in case we need to abort - possible_nodes.emplace_back(next, initial_node_coords, proposed_coordinates); - prev = next; - } else { - // Abort - next->setPose(initial_node_coords); - failure = true; - break; - } - } else { - // Abort - failure = true; - break; - } - } - - // Reset to initial poses to not impact future searches - for (const auto & node_pose : possible_nodes) { - const auto & n = node_pose.node; - n->setPose(node_pose.initial_coords); - } - - if (failure) { - return AnalyticExpansionNodes(); - } - - return possible_nodes; -} - -template -typename AStarAlgorithm::NodePtr AStarAlgorithm::setAnalyticPath( - const NodePtr & node, - const AnalyticExpansionNodes & expanded_nodes) -{ - // Legitimate final path - set the parent relationships & poses - NodePtr prev = node; - for (const auto & node_pose : expanded_nodes) { - const auto & n = node_pose.node; - if (!n->wasVisited() && n->getIndex() != _goal->getIndex()) { - // Make sure this node has not been visited by the regular algorithm. - // If it has been, there is the (slight) chance that it is in the path we are expanding - // from, so we should skip it. - // Skipping to the next node will still create a kinematically feasible path. - n->parent = prev; - n->pose = node_pose.proposed_coords; - n->visited(); - prev = n; - } - } - if (_goal != prev) { - _goal->parent = prev; - _goal->visited(); - } - return _goal; -} - -template<> -typename AStarAlgorithm::AnalyticExpansionNodes AStarAlgorithm::getAnalyticPath( - const NodePtr & node, - const NodeGetter & node_getter) -{ - return AnalyticExpansionNodes(); -} - -template<> -typename AStarAlgorithm::NodePtr AStarAlgorithm::setAnalyticPath( - const NodePtr & node, - const AnalyticExpansionNodes & expanded_nodes) -{ - return NodePtr(nullptr); -} - // Instantiate algorithm for the supported template types template class AStarAlgorithm; template class AStarAlgorithm; diff --git a/nav2_smac_planner/src/analytic_expansion.cpp b/nav2_smac_planner/src/analytic_expansion.cpp new file mode 100644 index 0000000000..618b8f3d6c --- /dev/null +++ b/nav2_smac_planner/src/analytic_expansion.cpp @@ -0,0 +1,260 @@ +// Copyright (c) 2021, Samsung Research America +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. Reserved. + +#include +#include +#include + +#include "nav2_smac_planner/analytic_expansion.hpp" + +namespace nav2_smac_planner +{ + +template +AnalyticExpansion::AnalyticExpansion( + const MotionModel & motion_model, + const SearchInfo & search_info, + const bool & traverse_unknown, + const unsigned int & dim_3_size) +: _motion_model(motion_model), + _search_info(search_info), + _traverse_unknown(traverse_unknown), + _dim_3_size(dim_3_size), + _collision_checker(nullptr) +{ +} + +template +void AnalyticExpansion::setCollisionChecker( + GridCollisionChecker * collision_checker) +{ + _collision_checker = collision_checker; +} + +template +typename AnalyticExpansion::NodePtr AnalyticExpansion::tryAnalyticExpansion( + const NodePtr & current_node, const NodePtr & goal_node, + const NodeGetter & getter, int & analytic_iterations, + int & closest_distance) +{ + // This must be a NodeHybrid or NodeLattice if we are using these motion models + if (_motion_model == MotionModel::DUBIN || _motion_model == MotionModel::REEDS_SHEPP || + _motion_model == MotionModel::STATE_LATTICE) + { + // See if we are closer and should be expanding more often + auto costmap = _collision_checker->getCostmap(); + const Coordinates node_coords = + NodeT::getCoords(current_node->getIndex(), costmap->getSizeInCellsX(), _dim_3_size); + closest_distance = std::min( + closest_distance, + static_cast(NodeT::getHeuristicCost(node_coords, goal_node->pose, costmap))); + + // We want to expand at a rate of d/expansion_ratio, + // but check to see if we are so close that we would be expanding every iteration + // If so, limit it to the expansion ratio (rounded up) + int desired_iterations = std::max( + static_cast(closest_distance / _search_info.analytic_expansion_ratio), + static_cast(std::ceil(_search_info.analytic_expansion_ratio))); + + // If we are closer now, we should update the target number of iterations to go + analytic_iterations = + std::min(analytic_iterations, desired_iterations); + + // Always run the expansion on the first run in case there is a + // trivial path to be found + if (analytic_iterations <= 0) { + // Reset the counter and try the analytic path expansion + analytic_iterations = desired_iterations; + AnalyticExpansionNodes analytic_nodes = getAnalyticPath(current_node, goal_node, getter); + if (!analytic_nodes.empty()) { + // If we have a valid path, attempt to refine it + NodePtr node = current_node; + NodePtr test_node = current_node; + AnalyticExpansionNodes refined_analytic_nodes; + for (int i = 0; i < 8; i++) { + // Attempt to create better paths in 5 node increments, need to make sure + // they exist for each in order to do so (maximum of 40 points back). + if (test_node->parent && test_node->parent->parent && test_node->parent->parent->parent && + test_node->parent->parent->parent->parent && + test_node->parent->parent->parent->parent->parent) + { + test_node = test_node->parent->parent->parent->parent->parent; + refined_analytic_nodes = getAnalyticPath(test_node, goal_node, getter); + if (refined_analytic_nodes.empty()) { + break; + } + analytic_nodes = refined_analytic_nodes; + node = test_node; + } else { + break; + } + } + + return setAnalyticPath(node, goal_node, analytic_nodes); + } + } + + analytic_iterations--; + } + + // No valid motion model - return nullptr + return NodePtr(nullptr); +} + +template +typename AnalyticExpansion::AnalyticExpansionNodes AnalyticExpansion::getAnalyticPath( + const NodePtr & node, + const NodePtr & goal, + const NodeGetter & node_getter) +{ + static ompl::base::ScopedState<> from(node->motion_table.state_space), to( + node->motion_table.state_space), s(node->motion_table.state_space); + from[0] = node->pose.x; + from[1] = node->pose.y; + from[2] = node->pose.theta * node->motion_table.bin_size; + to[0] = goal->pose.x; + to[1] = goal->pose.y; + to[2] = goal->pose.theta * node->motion_table.bin_size; + + float d = node->motion_table.state_space->distance(from(), to()); + + // A move of sqrt(2) is guaranteed to be in a new cell + static const float sqrt_2 = std::sqrt(2.); + unsigned int num_intervals = std::floor(d / sqrt_2); + + AnalyticExpansionNodes possible_nodes; + // When "from" and "to" are zero or one cell away, + // num_intervals == 0 + possible_nodes.reserve(num_intervals); // We won't store this node or the goal + std::vector reals; + + // Pre-allocate + NodePtr prev(node); + unsigned int index = 0; + NodePtr next(nullptr); + float angle = 0.0; + Coordinates proposed_coordinates; + bool failure = false; + + // Check intermediary poses (non-goal, non-start) + for (float i = 1; i < num_intervals; i++) { + node->motion_table.state_space->interpolate(from(), to(), i / num_intervals, s()); + reals = s.reals(); + angle = reals[2] / node->motion_table.bin_size; + while (angle < 0.0) { + angle += node->motion_table.num_angle_quantization_float; + } + while (angle >= node->motion_table.num_angle_quantization_float) { + angle -= node->motion_table.num_angle_quantization_float; + } + // Turn the pose into a node, and check if it is valid + index = NodeT::getIndex( + static_cast(reals[0]), + static_cast(reals[1]), + static_cast(angle)); + // Get the node from the graph + if (node_getter(index, next)) { + Coordinates initial_node_coords = next->pose; + proposed_coordinates = {static_cast(reals[0]), static_cast(reals[1]), angle}; + next->setPose(proposed_coordinates); + if (next->isNodeValid(_traverse_unknown, _collision_checker) && next != prev) { + // Save the node, and its previous coordinates in case we need to abort + possible_nodes.emplace_back(next, initial_node_coords, proposed_coordinates); + prev = next; + } else { + // Abort + next->setPose(initial_node_coords); + failure = true; + break; + } + } else { + // Abort + failure = true; + break; + } + } + + // Reset to initial poses to not impact future searches + for (const auto & node_pose : possible_nodes) { + const auto & n = node_pose.node; + n->setPose(node_pose.initial_coords); + } + + if (failure) { + return AnalyticExpansionNodes(); + } + + return possible_nodes; +} + +template +typename AnalyticExpansion::NodePtr AnalyticExpansion::setAnalyticPath( + const NodePtr & node, + const NodePtr & goal_node, + const AnalyticExpansionNodes & expanded_nodes) +{ + // Legitimate final path - set the parent relationships & poses + NodePtr prev = node; + for (const auto & node_pose : expanded_nodes) { + const auto & n = node_pose.node; + if (!n->wasVisited() && n->getIndex() != goal_node->getIndex()) { + // Make sure this node has not been visited by the regular algorithm. + // If it has been, there is the (slight) chance that it is in the path we are expanding + // from, so we should skip it. + // Skipping to the next node will still create a kinematically feasible path. + n->parent = prev; + n->pose = node_pose.proposed_coords; + n->visited(); + prev = n; + } + } + if (goal_node != prev) { + goal_node->parent = prev; + goal_node->visited(); + } + return goal_node; +} + +template<> +typename AnalyticExpansion::AnalyticExpansionNodes AnalyticExpansion::getAnalyticPath( + const NodePtr & node, + const NodePtr & goal, + const NodeGetter & node_getter) +{ + return AnalyticExpansionNodes(); +} + +template<> +typename AnalyticExpansion::NodePtr AnalyticExpansion::setAnalyticPath( + const NodePtr & node, + const NodePtr & goal_node, + const AnalyticExpansionNodes & expanded_nodes) +{ + return NodePtr(nullptr); +} + +template<> +typename AnalyticExpansion::NodePtr AnalyticExpansion::tryAnalyticExpansion( + const NodePtr & current_node, const NodePtr & goal_node, + const NodeGetter & getter, int & analytic_iterations, + int & closest_distance) +{ + return NodePtr(nullptr); +} + +template class AnalyticExpansion; +template class AnalyticExpansion; +template class AnalyticExpansion; + +} // namespace nav2_smac_planner diff --git a/nav2_smac_planner/src/node_lattice.cpp b/nav2_smac_planner/src/node_lattice.cpp index d8909388dc..b3478c50c9 100644 --- a/nav2_smac_planner/src/node_lattice.cpp +++ b/nav2_smac_planner/src/node_lattice.cpp @@ -58,6 +58,7 @@ void LatticeMotionTable::initMotionModel( cost_penalty = search_info.cost_penalty; reverse_penalty = search_info.reverse_penalty; current_lattice_filepath = search_info.lattice_filepath; + allow_reverse_expansion = search_info.allow_reverse_expansion; // TODO(Matt) read in file, precompute based on orientation bins for lookup at runtime // file is `search_info.lattice_filepath`, to be read in from plugin and provided here. @@ -69,10 +70,13 @@ void LatticeMotionTable::initMotionModel( // TODO(Matt) populate num_angle_quantization, size_x, min_turning_radius, trig_values, // all of the member variables of LatticeMotionTable + + // TODO use allow_reverse_expansion to set state_space to dubins/reeds-shepp } MotionPoses LatticeMotionTable::getProjections(const NodeLattice * node) { + // TODO use allow_reverse_expansion to get forward or inverse pair as well return MotionPoses(); // TODO(Matt) lookup at run time the primitives to use at node } diff --git a/nav2_smac_planner/src/smac_planner_lattice.cpp b/nav2_smac_planner/src/smac_planner_lattice.cpp index eb12db3fc5..d9ee491cb5 100644 --- a/nav2_smac_planner/src/smac_planner_lattice.cpp +++ b/nav2_smac_planner/src/smac_planner_lattice.cpp @@ -61,7 +61,6 @@ void SmacPlannerLattice::configure( int angle_quantizations; int lookup_table_size; SearchInfo search_info; - std::string motion_model_for_search; // General planner params nav2_util::declare_parameter_if_not_declared( @@ -106,6 +105,9 @@ void SmacPlannerLattice::configure( nav2_util::declare_parameter_if_not_declared( node, name + ".lookup_table_size", rclcpp::ParameterValue(20.0)); node->get_parameter(name + ".lookup_table_size", lookup_table_size); + nav2_util::declare_parameter_if_not_declared( + node, name + ".allow_reverse_expansion", rclcpp::ParameterValue(false)); + node->get_parameter(name + ".allow_reverse_expansion", search_info.allow_reverse_expansion); LatticeMetadata metadata = LatticeMotionTable::getLatticeMetadata(search_info.lattice_filepath); _angle_quantizations = metadata.first; From e7e28c6ef2926474831645f5b1d443d70c9273d1 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Wed, 6 Oct 2021 15:44:55 -0700 Subject: [PATCH 03/31] moving smoother and collision checker into cpp files --- nav2_smac_planner/CMakeLists.txt | 6 + .../nav2_smac_planner/collision_checker.hpp | 119 +--------- .../include/nav2_smac_planner/smoother.hpp | 207 +++-------------- nav2_smac_planner/src/collision_checker.cpp | 148 ++++++++++++ nav2_smac_planner/src/smoother.cpp | 211 ++++++++++++++++++ 5 files changed, 400 insertions(+), 291 deletions(-) create mode 100644 nav2_smac_planner/src/collision_checker.cpp create mode 100644 nav2_smac_planner/src/smoother.cpp diff --git a/nav2_smac_planner/CMakeLists.txt b/nav2_smac_planner/CMakeLists.txt index b5ef8b8d29..773329fdb8 100644 --- a/nav2_smac_planner/CMakeLists.txt +++ b/nav2_smac_planner/CMakeLists.txt @@ -69,6 +69,8 @@ set(dependencies add_library(${library_name} SHARED src/smac_planner_hybrid.cpp src/a_star.cpp + src/collision_checker.cpp + src/smoother.cpp src/analytic_expansion.cpp src/node_hybrid.cpp src/node_lattice.cpp @@ -87,6 +89,8 @@ ament_target_dependencies(${library_name} add_library(${library_name}_2d SHARED src/smac_planner_2d.cpp src/a_star.cpp + src/smoother.cpp + src/collision_checker.cpp src/analytic_expansion.cpp src/node_hybrid.cpp src/node_lattice.cpp @@ -105,6 +109,8 @@ ament_target_dependencies(${library_name}_2d add_library(${library_name}_lattice SHARED src/smac_planner_lattice.cpp src/a_star.cpp + src/smoother.cpp + src/collision_checker.cpp src/analytic_expansion.cpp src/node_hybrid.cpp src/node_lattice.cpp diff --git a/nav2_smac_planner/include/nav2_smac_planner/collision_checker.hpp b/nav2_smac_planner/include/nav2_smac_planner/collision_checker.hpp index c38aeff101..3fcc4e39ac 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/collision_checker.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/collision_checker.hpp @@ -51,45 +51,7 @@ class GridCollisionChecker void setFootprint( const nav2_costmap_2d::Footprint & footprint, const bool & radius, - const double & possible_inscribed_cost) - { - possible_inscribed_cost_ = possible_inscribed_cost; - footprint_is_radius_ = radius; - - // Use radius, no caching required - if (radius) { - return; - } - - // No change, no updates required - if (footprint == unoriented_footprint_) { - return; - } - - bin_size_ = 2.0 * M_PI / static_cast(num_quantizations_); - oriented_footprints_.reserve(num_quantizations_); - double sin_th, cos_th; - geometry_msgs::msg::Point new_pt; - const unsigned int footprint_size = footprint.size(); - - // Precompute the orientation bins for checking to use - for (unsigned int i = 0; i != num_quantizations_; i++) { - sin_th = sin(i * bin_size_); - cos_th = cos(i * bin_size_); - nav2_costmap_2d::Footprint oriented_footprint; - oriented_footprint.reserve(footprint_size); - - for (unsigned int j = 0; j < footprint_size; j++) { - new_pt.x = footprint[j].x * cos_th - footprint[j].y * sin_th; - new_pt.y = footprint[j].x * sin_th + footprint[j].y * cos_th; - oriented_footprint.push_back(new_pt); - } - - oriented_footprints_.push_back(oriented_footprint); - } - - unoriented_footprint_ = footprint; - } + const double & possible_inscribed_cost); /** * @brief Check if in collision with costmap and footprint at pose @@ -103,67 +65,7 @@ class GridCollisionChecker const float & x, const float & y, const float & theta, - const bool & traverse_unknown) - { - // Assumes setFootprint already set - double wx, wy; - costmap_->mapToWorld(static_cast(x), static_cast(y), wx, wy); - - if (!footprint_is_radius_) { - // if footprint, then we check for the footprint's points, but first see - // if the robot is even potentially in an inscribed collision - footprint_cost_ = costmap_->getCost( - static_cast(x), static_cast(y)); - - if (footprint_cost_ < possible_inscribed_cost_) { - return false; - } - - // If its inscribed, in collision, or unknown in the middle, - // no need to even check the footprint, its invalid - if (footprint_cost_ == UNKNOWN && !traverse_unknown) { - return true; - } - - if (footprint_cost_ == INSCRIBED || footprint_cost_ == OCCUPIED) { - return true; - } - - // if possible inscribed, need to check actual footprint pose. - // Use precomputed oriented footprints are done on initialization, - // offset by translation value to collision check - int angle_bin = theta / bin_size_; - geometry_msgs::msg::Point new_pt; - const nav2_costmap_2d::Footprint & oriented_footprint = oriented_footprints_[angle_bin]; - nav2_costmap_2d::Footprint current_footprint; - current_footprint.reserve(oriented_footprint.size()); - for (unsigned int i = 0; i < oriented_footprint.size(); ++i) { - new_pt.x = wx + oriented_footprint[i].x; - new_pt.y = wy + oriented_footprint[i].y; - current_footprint.push_back(new_pt); - } - - footprint_cost_ = footprintCost(current_footprint); - - if (footprint_cost_ == UNKNOWN && traverse_unknown) { - return false; - } - - // if occupied or unknown and not to traverse unknown space - return footprint_cost_ >= OCCUPIED; - } else { - // if radius, then we can check the center of the cost assuming inflation is used - footprint_cost_ = costmap_->getCost( - static_cast(x), static_cast(y)); - - if (footprint_cost_ == UNKNOWN && traverse_unknown) { - return false; - } - - // if occupied or unknown and not to traverse unknown space - return footprint_cost_ >= INSCRIBED; - } - } + const bool & traverse_unknown); /** * @brief Check if in collision with costmap and footprint at pose @@ -173,26 +75,13 @@ class GridCollisionChecker */ bool inCollision( const unsigned int & i, - const bool & traverse_unknown) - { - footprint_cost_ = costmap_->getCost(i); - if (footprint_cost_ == UNKNOWN && traverse_unknown) { - return false; - } - - // if occupied or unknown and not to traverse unknown space - return footprint_cost_ >= INSCRIBED; - } + const bool & traverse_unknown); /** * @brief Get cost at footprint pose in costmap * @return the cost at the pose in costmap */ - float getCost() - { - // Assumes inCollision called prior - return static_cast(footprint_cost_); - } + float getCost(); protected: std::vector oriented_footprints_; diff --git a/nav2_smac_planner/include/nav2_smac_planner/smoother.hpp b/nav2_smac_planner/include/nav2_smac_planner/smoother.hpp index a9c45d4cda..cbadf92f67 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/smoother.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/smoother.hpp @@ -22,7 +22,9 @@ #include #include +#include "nav2_costmap_2d/costmap_2d.hpp" #include "nav2_smac_planner/types.hpp" +#include "nav2_smac_planner/constants.hpp" #include "nav2_util/geometry_utils.hpp" #include "nav_msgs/msg/path.hpp" @@ -39,13 +41,7 @@ class Smoother /** * @brief A constructor for nav2_smac_planner::Smoother */ - explicit Smoother(const SmootherParams & params) - { - tolerance_ = params.tolerance_; - max_its_ = params.max_its_; - data_w_ = params.w_data_; - smooth_w_ = params.w_smooth_; - } + explicit Smoother(const SmootherParams & params); /** * @brief A destructor for nav2_smac_planner::Smoother @@ -56,10 +52,7 @@ class Smoother * @brief Initialization of the smoother * @param min_turning_radius Minimum turning radius (m) */ - void initialize(const double & min_turning_radius) - { - min_turning_rad_ = min_turning_radius; - } + void initialize(const double & min_turning_radius); /** * @brief Smoother method @@ -72,178 +65,40 @@ class Smoother nav_msgs::msg::Path & path, const nav2_costmap_2d::Costmap2D * costmap, const double & max_time, - const bool do_refinement = true) - { - using namespace std::chrono; // NOLINT - steady_clock::time_point a = steady_clock::now(); - rclcpp::Duration max_dur = rclcpp::Duration::from_seconds(max_time); - - int its = 0; - double change = tolerance_; - const unsigned int & path_size = path.poses.size(); - double x_i, y_i, y_m1, y_ip1, y_im2, y_ip2, y_i_org, curvature; - unsigned int mx, my; - - // Adding 5% margin due to floating point error - const double max_curvature = (1.0 / min_turning_rad_) * 1.05; - nav_msgs::msg::Path new_path = path; - nav_msgs::msg::Path last_path = path; - - while (change >= tolerance_) { - its += 1; - change = 0.0; - - // Make sure the smoothing function will converge - if (its >= max_its_) { - RCLCPP_DEBUG( - rclcpp::get_logger("SmacPlannerSmoother"), - "Number of iterations has exceeded limit of %i.", max_its_); - path = last_path; - updateApproximatePathOrientations(path); - return false; - } - - // Make sure still have time left to process - steady_clock::time_point b = steady_clock::now(); - rclcpp::Duration timespan(duration_cast>(b - a)); - if (timespan > max_dur) { - RCLCPP_DEBUG( - rclcpp::get_logger("SmacPlannerSmoother"), - "Smoothing time exceeded allowed duration of %0.2f.", max_time); - path = last_path; - updateApproximatePathOrientations(path); - return false; - } - - for (unsigned int i = 2; i != path_size - 2; i++) { - for (unsigned int j = 0; j != 2; j++) { - x_i = getFieldByDim(path.poses[i], j); - y_i = getFieldByDim(new_path.poses[i], j); - y_m1 = getFieldByDim(new_path.poses[i - 1], j); - y_ip1 = getFieldByDim(new_path.poses[i + 1], j); - y_i_org = y_i; - - if (i > 2 && i < path_size - 2) { - // Smooth based on local 5 point neighborhood and original data locations - y_im2 = getFieldByDim(new_path.poses[i - 2], j); - y_ip2 = getFieldByDim(new_path.poses[i + 2], j); - y_i += data_w_ * (x_i - y_i) + smooth_w_ * (y_im2 + y_ip2 + y_ip1 + y_m1 - (4.0 * y_i)); - } else { - // Smooth based on local 3 point neighborhood and original data locations - // At boundary conditions, need to use a more local neighborhood because the first - // and last 2 points cannot move to ensure the boundry conditions are upheld - y_i += data_w_ * (x_i - y_i) + smooth_w_ * (y_ip1 + y_m1 - (2.0 * y_i)); - } - - setFieldByDim(new_path.poses[i], j, y_i); - change += abs(y_i - y_i_org); - } - - // validate update is admissible, only checks cost if a valid costmap pointer is provided - float cost = 0.0; - if (costmap) { - costmap->worldToMap( - getFieldByDim(new_path.poses[i], 0), - getFieldByDim(new_path.poses[i], 1), - mx, my); - cost = static_cast(costmap->getCost(mx, my)); - } - if (cost > MAX_NON_OBSTACLE) { - RCLCPP_DEBUG( - rclcpp::get_logger("SmacPlannerSmoother"), - "Smoothing process resulted in an infeasible collision. " - "Returning the last path before the infeasibility was introduced."); - path = last_path; - updateApproximatePathOrientations(path); - return false; - } - } - - last_path = new_path; - } - - // Lets do additional refinement, it shouldn't take more than a couple milliseconds - // but really puts the path quality over the top. - if (do_refinement) { - smooth(new_path, costmap, max_time, false); - } - - for (unsigned int i = 3; i != path_size - 3; i++) { - if (getCurvature(new_path, i) > max_curvature) { - RCLCPP_DEBUG( - rclcpp::get_logger("SmacPlannerSmoother"), - "Smoothing process resulted in an infeasible curvature somewhere on the path. " - "This is most likely at the end point boundary conditions which will be further " - "refined as a perfect curve as you approach the goal. If this becomes a practical " - "issue for you, please file a ticket mentioning this message."); - updateApproximatePathOrientations(new_path); - path = new_path; - return false; - } - } - - updateApproximatePathOrientations(new_path); - path = new_path; - return true; - } + const bool do_refinement = true); protected: - inline double getFieldByDim(const geometry_msgs::msg::PoseStamped & msg, const unsigned int & dim) - { - if (dim == 0) { - return msg.pose.position.x; - } else if (dim == 1) { - return msg.pose.position.y; - } else { - return msg.pose.position.z; - } - } + /** + * @brief Get the field value for a given dimension + * @param msg Current pose to sample + * @param dim Dimension ID of interest + * @return dim value + */ + inline double getFieldByDim(const geometry_msgs::msg::PoseStamped & msg, const unsigned int & dim); + /** + * @brief Set the field value for a given dimension + * @param msg Current pose to sample + * @param dim Dimension ID of interest + * @param value to set the dimention to for the pose + */ inline void setFieldByDim( geometry_msgs::msg::PoseStamped & msg, const unsigned int dim, - const double & value) - { - if (dim == 0) { - msg.pose.position.x = value; - } else if (dim == 1) { - msg.pose.position.y = value; - } else { - msg.pose.position.z = value; - } - } - - inline double getCurvature(const nav_msgs::msg::Path & path, const unsigned int i) - { - // k = 1 / r = acos(delta_phi) / |xi|, where delta_phi = (xi dot xi+1) / (|xi| * |xi+1|) - const double dxi_x = getFieldByDim(path.poses[i], 0) - getFieldByDim(path.poses[i - 1], 0); - const double dxi_y = getFieldByDim(path.poses[i], 1) - getFieldByDim(path.poses[i - 1], 1); - const double dxip1_x = getFieldByDim(path.poses[i + 1], 0) - getFieldByDim(path.poses[i], 0); - const double dxip1_y = getFieldByDim(path.poses[i + 1], 1) - getFieldByDim(path.poses[i], 1); - const double norm_dx_i = hypot(dxi_x, dxi_y); - const double norm_dx_ip1 = hypot(dxip1_x, dxip1_y); - double arg = (dxi_x * dxip1_x + dxi_y * dxip1_y) / (norm_dx_i * norm_dx_ip1); + const double & value); - // In case of small out of bounds issues from floating point error - if (arg > 1.0) { - arg = 1.0; - } else if (arg < -1.0) { - arg = -1.0; - } - - return acos(arg) / norm_dx_i; - } + /** + * @brief Get the instantaneous curvature valud + * @param path Path to find curvature in + * @param i idx in path to find it for + * @return curvature + */ + inline double getCurvature(const nav_msgs::msg::Path & path, const unsigned int i); - inline void updateApproximatePathOrientations(nav_msgs::msg::Path & path) - { - using namespace nav2_util::geometry_utils; // NOLINT - double dx, dy, theta; - for (unsigned int i = 0; i != path.poses.size() - 1; i++) { - dx = path.poses[i + 1].pose.position.x - path.poses[i].pose.position.x; - dy = path.poses[i + 1].pose.position.y - path.poses[i].pose.position.y; - theta = atan2(dy, dx); - path.poses[i].pose.orientation = orientationAroundZAxis(theta); - } - } + /** + * @brief For a given path, update the path point orientations based on smoothing + * @param path Path to approximate the path orientation in + */ + inline void updateApproximatePathOrientations(nav_msgs::msg::Path & path); double min_turning_rad_, tolerance_, data_w_, smooth_w_; int max_its_; diff --git a/nav2_smac_planner/src/collision_checker.cpp b/nav2_smac_planner/src/collision_checker.cpp new file mode 100644 index 0000000000..e17d10e98a --- /dev/null +++ b/nav2_smac_planner/src/collision_checker.cpp @@ -0,0 +1,148 @@ +// Copyright (c) 2021, Samsung Research America +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. Reserved. + +#include "nav2_smac_planner/collision_checker.hpp" + +namespace nav2_smac_planner +{ + +void GridCollisionChecker::setFootprint( + const nav2_costmap_2d::Footprint & footprint, + const bool & radius, + const double & possible_inscribed_cost) +{ + possible_inscribed_cost_ = possible_inscribed_cost; + footprint_is_radius_ = radius; + + // Use radius, no caching required + if (radius) { + return; + } + + // No change, no updates required + if (footprint == unoriented_footprint_) { + return; + } + + bin_size_ = 2.0 * M_PI / static_cast(num_quantizations_); + oriented_footprints_.reserve(num_quantizations_); + double sin_th, cos_th; + geometry_msgs::msg::Point new_pt; + const unsigned int footprint_size = footprint.size(); + + // Precompute the orientation bins for checking to use + for (unsigned int i = 0; i != num_quantizations_; i++) { + sin_th = sin(i * bin_size_); + cos_th = cos(i * bin_size_); + nav2_costmap_2d::Footprint oriented_footprint; + oriented_footprint.reserve(footprint_size); + + for (unsigned int j = 0; j < footprint_size; j++) { + new_pt.x = footprint[j].x * cos_th - footprint[j].y * sin_th; + new_pt.y = footprint[j].x * sin_th + footprint[j].y * cos_th; + oriented_footprint.push_back(new_pt); + } + + oriented_footprints_.push_back(oriented_footprint); + } + + unoriented_footprint_ = footprint; +} + +bool GridCollisionChecker::inCollision( + const float & x, + const float & y, + const float & theta, + const bool & traverse_unknown) +{ + // Assumes setFootprint already set + double wx, wy; + costmap_->mapToWorld(static_cast(x), static_cast(y), wx, wy); + + if (!footprint_is_radius_) { + // if footprint, then we check for the footprint's points, but first see + // if the robot is even potentially in an inscribed collision + footprint_cost_ = costmap_->getCost( + static_cast(x), static_cast(y)); + + if (footprint_cost_ < possible_inscribed_cost_) { + return false; + } + + // If its inscribed, in collision, or unknown in the middle, + // no need to even check the footprint, its invalid + if (footprint_cost_ == UNKNOWN && !traverse_unknown) { + return true; + } + + if (footprint_cost_ == INSCRIBED || footprint_cost_ == OCCUPIED) { + return true; + } + + // if possible inscribed, need to check actual footprint pose. + // Use precomputed oriented footprints are done on initialization, + // offset by translation value to collision check + int angle_bin = theta / bin_size_; + geometry_msgs::msg::Point new_pt; + const nav2_costmap_2d::Footprint & oriented_footprint = oriented_footprints_[angle_bin]; + nav2_costmap_2d::Footprint current_footprint; + current_footprint.reserve(oriented_footprint.size()); + for (unsigned int i = 0; i < oriented_footprint.size(); ++i) { + new_pt.x = wx + oriented_footprint[i].x; + new_pt.y = wy + oriented_footprint[i].y; + current_footprint.push_back(new_pt); + } + + footprint_cost_ = footprintCost(current_footprint); + + if (footprint_cost_ == UNKNOWN && traverse_unknown) { + return false; + } + + // if occupied or unknown and not to traverse unknown space + return footprint_cost_ >= OCCUPIED; + } else { + // if radius, then we can check the center of the cost assuming inflation is used + footprint_cost_ = costmap_->getCost( + static_cast(x), static_cast(y)); + + if (footprint_cost_ == UNKNOWN && traverse_unknown) { + return false; + } + + // if occupied or unknown and not to traverse unknown space + return footprint_cost_ >= INSCRIBED; + } +} + +bool GridCollisionChecker::inCollision( + const unsigned int & i, + const bool & traverse_unknown) +{ + footprint_cost_ = costmap_->getCost(i); + if (footprint_cost_ == UNKNOWN && traverse_unknown) { + return false; + } + + // if occupied or unknown and not to traverse unknown space + return footprint_cost_ >= INSCRIBED; +} + +float GridCollisionChecker::getCost() +{ + // Assumes inCollision called prior + return static_cast(footprint_cost_); +} + +} // namespace nav2_smac_planner diff --git a/nav2_smac_planner/src/smoother.cpp b/nav2_smac_planner/src/smoother.cpp new file mode 100644 index 0000000000..b9e8c54a25 --- /dev/null +++ b/nav2_smac_planner/src/smoother.cpp @@ -0,0 +1,211 @@ +// Copyright (c) 2021, Samsung Research America +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. Reserved. + +#include "nav2_smac_planner/smoother.hpp" + +namespace nav2_smac_planner +{ + +Smoother::Smoother(const SmootherParams & params) +{ + tolerance_ = params.tolerance_; + max_its_ = params.max_its_; + data_w_ = params.w_data_; + smooth_w_ = params.w_smooth_; +} + +void Smoother::initialize(const double & min_turning_radius) +{ + min_turning_rad_ = min_turning_radius; +} + + +bool Smoother::smooth( + nav_msgs::msg::Path & path, + const nav2_costmap_2d::Costmap2D * costmap, + const double & max_time, + const bool do_refinement) +{ + using namespace std::chrono; // NOLINT + steady_clock::time_point a = steady_clock::now(); + rclcpp::Duration max_dur = rclcpp::Duration::from_seconds(max_time); + + int its = 0; + double change = tolerance_; + const unsigned int & path_size = path.poses.size(); + double x_i, y_i, y_m1, y_ip1, y_im2, y_ip2, y_i_org, curvature; + unsigned int mx, my; + + // Adding 5% margin due to floating point error + const double max_curvature = (1.0 / min_turning_rad_) * 1.05; + nav_msgs::msg::Path new_path = path; + nav_msgs::msg::Path last_path = path; + + while (change >= tolerance_) { + its += 1; + change = 0.0; + + // Make sure the smoothing function will converge + if (its >= max_its_) { + RCLCPP_DEBUG( + rclcpp::get_logger("SmacPlannerSmoother"), + "Number of iterations has exceeded limit of %i.", max_its_); + path = last_path; + updateApproximatePathOrientations(path); + return false; + } + + // Make sure still have time left to process + steady_clock::time_point b = steady_clock::now(); + rclcpp::Duration timespan(duration_cast>(b - a)); + if (timespan > max_dur) { + RCLCPP_DEBUG( + rclcpp::get_logger("SmacPlannerSmoother"), + "Smoothing time exceeded allowed duration of %0.2f.", max_time); + path = last_path; + updateApproximatePathOrientations(path); + return false; + } + + for (unsigned int i = 2; i != path_size - 2; i++) { + for (unsigned int j = 0; j != 2; j++) { + x_i = getFieldByDim(path.poses[i], j); + y_i = getFieldByDim(new_path.poses[i], j); + y_m1 = getFieldByDim(new_path.poses[i - 1], j); + y_ip1 = getFieldByDim(new_path.poses[i + 1], j); + y_i_org = y_i; + + if (i > 2 && i < path_size - 2) { + // Smooth based on local 5 point neighborhood and original data locations + y_im2 = getFieldByDim(new_path.poses[i - 2], j); + y_ip2 = getFieldByDim(new_path.poses[i + 2], j); + y_i += data_w_ * (x_i - y_i) + smooth_w_ * (y_im2 + y_ip2 + y_ip1 + y_m1 - (4.0 * y_i)); + } else { + // Smooth based on local 3 point neighborhood and original data locations + // At boundary conditions, need to use a more local neighborhood because the first + // and last 2 points cannot move to ensure the boundry conditions are upheld + y_i += data_w_ * (x_i - y_i) + smooth_w_ * (y_ip1 + y_m1 - (2.0 * y_i)); + } + + setFieldByDim(new_path.poses[i], j, y_i); + change += abs(y_i - y_i_org); + } + + // validate update is admissible, only checks cost if a valid costmap pointer is provided + float cost = 0.0; + if (costmap) { + costmap->worldToMap( + getFieldByDim(new_path.poses[i], 0), + getFieldByDim(new_path.poses[i], 1), + mx, my); + cost = static_cast(costmap->getCost(mx, my)); + } + if (cost > MAX_NON_OBSTACLE) { + RCLCPP_DEBUG( + rclcpp::get_logger("SmacPlannerSmoother"), + "Smoothing process resulted in an infeasible collision. " + "Returning the last path before the infeasibility was introduced."); + path = last_path; + updateApproximatePathOrientations(path); + return false; + } + } + + last_path = new_path; + } + + // Lets do additional refinement, it shouldn't take more than a couple milliseconds + // but really puts the path quality over the top. + if (do_refinement) { + smooth(new_path, costmap, max_time, false); + } + + for (unsigned int i = 3; i != path_size - 3; i++) { + if (getCurvature(new_path, i) > max_curvature) { + RCLCPP_DEBUG( + rclcpp::get_logger("SmacPlannerSmoother"), + "Smoothing process resulted in an infeasible curvature somewhere on the path. " + "This is most likely at the end point boundary conditions which will be further " + "refined as a perfect curve as you approach the goal. If this becomes a practical " + "issue for you, please file a ticket mentioning this message."); + updateApproximatePathOrientations(new_path); + path = new_path; + return false; + } + } + + updateApproximatePathOrientations(new_path); + path = new_path; + return true; +} + +double Smoother::getFieldByDim( + const geometry_msgs::msg::PoseStamped & msg, const unsigned int & dim) +{ + if (dim == 0) { + return msg.pose.position.x; + } else if (dim == 1) { + return msg.pose.position.y; + } else { + return msg.pose.position.z; + } +} + +void Smoother::setFieldByDim( + geometry_msgs::msg::PoseStamped & msg, const unsigned int dim, + const double & value) +{ + if (dim == 0) { + msg.pose.position.x = value; + } else if (dim == 1) { + msg.pose.position.y = value; + } else { + msg.pose.position.z = value; + } +} + +double Smoother::getCurvature(const nav_msgs::msg::Path & path, const unsigned int i) +{ + // k = 1 / r = acos(delta_phi) / |xi|, where delta_phi = (xi dot xi+1) / (|xi| * |xi+1|) + const double dxi_x = getFieldByDim(path.poses[i], 0) - getFieldByDim(path.poses[i - 1], 0); + const double dxi_y = getFieldByDim(path.poses[i], 1) - getFieldByDim(path.poses[i - 1], 1); + const double dxip1_x = getFieldByDim(path.poses[i + 1], 0) - getFieldByDim(path.poses[i], 0); + const double dxip1_y = getFieldByDim(path.poses[i + 1], 1) - getFieldByDim(path.poses[i], 1); + const double norm_dx_i = hypot(dxi_x, dxi_y); + const double norm_dx_ip1 = hypot(dxip1_x, dxip1_y); + double arg = (dxi_x * dxip1_x + dxi_y * dxip1_y) / (norm_dx_i * norm_dx_ip1); + + // In case of small out of bounds issues from floating point error + if (arg > 1.0) { + arg = 1.0; + } else if (arg < -1.0) { + arg = -1.0; + } + + return acos(arg) / norm_dx_i; +} + +void Smoother::updateApproximatePathOrientations(nav_msgs::msg::Path & path) +{ + using namespace nav2_util::geometry_utils; // NOLINT + double dx, dy, theta; + for (unsigned int i = 0; i != path.poses.size() - 1; i++) { + dx = path.poses[i + 1].pose.position.x - path.poses[i].pose.position.x; + dy = path.poses[i + 1].pose.position.y - path.poses[i].pose.position.y; + theta = atan2(dy, dx); + path.poses[i].pose.orientation = orientationAroundZAxis(theta); + } +} + +} // namespace nav2_smac_planner From 399f0e4fcc0a6915272b93deadd0d6e9c6e89a09 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Thu, 7 Oct 2021 15:47:45 -0700 Subject: [PATCH 04/31] allowing smac planner to work with irregular bin distributions --- .../nav2_smac_planner/collision_checker.hpp | 23 ++-- .../include/nav2_smac_planner/node_hybrid.hpp | 14 +++ .../nav2_smac_planner/node_lattice.hpp | 27 +++-- .../smac_planner_lattice.hpp | 17 ++- .../include/nav2_smac_planner/utils.hpp | 14 +++ nav2_smac_planner/src/analytic_expansion.cpp | 17 ++- nav2_smac_planner/src/collision_checker.cpp | 33 ++++-- nav2_smac_planner/src/node_hybrid.cpp | 12 ++- nav2_smac_planner/src/node_lattice.cpp | 100 +++++++++++++++--- .../src/smac_planner_lattice.cpp | 50 +++++---- 10 files changed, 235 insertions(+), 72 deletions(-) diff --git a/nav2_smac_planner/include/nav2_smac_planner/collision_checker.hpp b/nav2_smac_planner/include/nav2_smac_planner/collision_checker.hpp index 3fcc4e39ac..aa27404fcf 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/collision_checker.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/collision_checker.hpp @@ -31,17 +31,25 @@ class GridCollisionChecker public: /** * @brief A constructor for nav2_smac_planner::GridCollisionChecker + * for use when regular bin intervals are appropriate * @param costmap The costmap to collision check against * @param num_quantizations The number of quantizations to precompute footprint * orientations for to speed up collision checking */ GridCollisionChecker( nav2_costmap_2d::Costmap2D * costmap, - unsigned int num_quantizations) - : FootprintCollisionChecker(costmap), - num_quantizations_(num_quantizations) - { - } + unsigned int num_quantizations); + + /** + * @brief A constructor for nav2_smac_planner::GridCollisionChecker + * for use when irregular bin intervals are appropriate + * @param costmap The costmap to collision check against + * @param angles The vector of possible angle bins to precompute for + * orientations for to speed up collision checking, in radians + */ + GridCollisionChecker( + nav2_costmap_2d::Costmap2D * costmap, + std::vector & angles); /** * @brief Set the footprint to use with collision checker @@ -57,7 +65,7 @@ class GridCollisionChecker * @brief Check if in collision with costmap and footprint at pose * @param x X coordinate of pose to check against * @param y Y coordinate of pose to check against - * @param theta Angle of pose to check against + * @param theta Angle bin number of pose to check against (NOT radians) * @param traverse_unknown Whether or not to traverse in unknown space * @return boolean if in collision or not. */ @@ -88,8 +96,7 @@ class GridCollisionChecker nav2_costmap_2d::Footprint unoriented_footprint_; double footprint_cost_; bool footprint_is_radius_; - unsigned int num_quantizations_; - double bin_size_; + std::vector angles_; double possible_inscribed_cost_{-1}; }; diff --git a/nav2_smac_planner/include/nav2_smac_planner/node_hybrid.hpp b/nav2_smac_planner/include/nav2_smac_planner/node_hybrid.hpp index e2b85f18a2..dab6d13339 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/node_hybrid.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/node_hybrid.hpp @@ -115,6 +115,20 @@ struct HybridMotionTable */ MotionPoses getProjections(const NodeHybrid * node); + /** + * @brief Get the angular bin to use from a raw orientation + * @param theta Angle in radians + * @return bin index of closest angle to request + */ + unsigned int getClosestAngularBin(const double & theta); + + /** + * @brief Get the raw orientation from an angular bin + * @param bin_idx Index of the bin + * @return Raw orientation in radians + */ + float getAngleFromBin(const unsigned int & bin_idx); + MotionPoses projections; unsigned int size_x; unsigned int num_angle_quantization; diff --git a/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp b/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp index fb21f5fe3a..274744cd0e 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp @@ -80,12 +80,24 @@ struct LatticeMotionTable */ static LatticeMetadata getLatticeMetadata(const std::string & lattice_filepath); + /** + * @brief Get the angular bin to use from a raw orientation + * @param theta Angle in radians + * @return bin index of closest angle to request + */ + unsigned int getClosestAngularBin(const double & theta); + + /** + * @brief Get the raw orientation from an angular bin + * @param bin_idx Index of the bin + * @return Raw orientation in radians + */ + float getAngleFromBin(const unsigned int & bin_idx); + MotionPoses projections; unsigned int size_x; unsigned int num_angle_quantization; - float num_angle_quantization_float; float min_turning_radius; - float bin_size; float change_penalty; float non_straight_penalty; float cost_penalty; @@ -302,13 +314,7 @@ class NodeLattice const float & lookup_table_dim, const MotionModel & motion_model, const unsigned int & dim_3_size, - const SearchInfo & search_info) - { - // State Lattice and Hybrid-A* share this heuristics - NodeHybrid::precomputeDistanceHeuristic( - lookup_table_dim, motion_model, dim_3_size, - search_info); - } + const SearchInfo & search_info); /** * @brief Compute the wavefront heuristic @@ -366,6 +372,9 @@ class NodeLattice NodeLattice * parent; Coordinates pose; static LatticeMotionTable motion_table; + // Dubin / Reeds-Shepp lookup and size for dereferencing + static LookupTable dist_heuristic_lookup_table; + static float size_lookup; private: float _cell_cost; diff --git a/nav2_smac_planner/include/nav2_smac_planner/smac_planner_lattice.hpp b/nav2_smac_planner/include/nav2_smac_planner/smac_planner_lattice.hpp index ae46a36116..4855ed72b0 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/smac_planner_lattice.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/smac_planner_lattice.hpp @@ -87,6 +87,20 @@ class SmacPlannerLattice : public nav2_core::GlobalPlanner const geometry_msgs::msg::PoseStamped & goal) override; protected: + /** + * @brief Get the angular bin to use from a raw orientation + * @param theta Angle in radians + * @return bin index of closest angle to request + */ + unsigned int getClosestAngularBin(const double & theta); + + /** + * @brief Get the raw orientation from an angular bin + * @param bin_idx Index of the bin + * @return Raw orientation in radians + */ + float getAngleFromBin(const unsigned int & bin_idx); + std::unique_ptr> _a_star; GridCollisionChecker _collision_checker; std::unique_ptr _smoother; @@ -94,11 +108,10 @@ class SmacPlannerLattice : public nav2_core::GlobalPlanner rclcpp::Logger _logger{rclcpp::get_logger("SmacPlannerLattice")}; nav2_costmap_2d::Costmap2D * _costmap; std::unique_ptr _costmap_downsampler; + LatticeMetadata _metadata; std::string _global_frame, _name; float _tolerance; int _downsampling_factor; - unsigned int _angle_quantizations; - double _angle_bin_size; bool _downsample_costmap; rclcpp_lifecycle::LifecyclePublisher::SharedPtr _raw_plan_publisher; double _max_planning_time; diff --git a/nav2_smac_planner/include/nav2_smac_planner/utils.hpp b/nav2_smac_planner/include/nav2_smac_planner/utils.hpp index 0c58fbfc01..ebf2ea10c3 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/utils.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/utils.hpp @@ -61,6 +61,20 @@ inline geometry_msgs::msg::Quaternion getWorldOrientation( return tf2::toMsg(q); } +/** +* @brief Create quaternion from radians +* @param theta continuous bin coordinates angle +* @return quaternion orientation in map frame +*/ +inline geometry_msgs::msg::Quaternion getWorldOrientation( + const float & theta) +{ + // theta is in radians already + tf2::Quaternion q; + q.setEuler(0.0, 0.0, theta); + return tf2::toMsg(q); +} + /** * @brief Find the min cost of the inflation decay function for which the robot MAY be * in collision in any orientation diff --git a/nav2_smac_planner/src/analytic_expansion.cpp b/nav2_smac_planner/src/analytic_expansion.cpp index 618b8f3d6c..0919d0d921 100644 --- a/nav2_smac_planner/src/analytic_expansion.cpp +++ b/nav2_smac_planner/src/analytic_expansion.cpp @@ -122,10 +122,10 @@ typename AnalyticExpansion::AnalyticExpansionNodes AnalyticExpansionmotion_table.state_space), s(node->motion_table.state_space); from[0] = node->pose.x; from[1] = node->pose.y; - from[2] = node->pose.theta * node->motion_table.bin_size; + from[2] = node->motion_table.getAngleFromBin(node->pose.theta); to[0] = goal->pose.x; to[1] = goal->pose.y; - to[2] = goal->pose.theta * node->motion_table.bin_size; + to[2] = node->motion_table.getAngleFromBin(goal->pose.theta); float d = node->motion_table.state_space->distance(from(), to()); @@ -138,6 +138,7 @@ typename AnalyticExpansion::AnalyticExpansionNodes AnalyticExpansion reals; + double theta; // Pre-allocate NodePtr prev(node); @@ -151,13 +152,11 @@ typename AnalyticExpansion::AnalyticExpansionNodes AnalyticExpansionmotion_table.state_space->interpolate(from(), to(), i / num_intervals, s()); reals = s.reals(); - angle = reals[2] / node->motion_table.bin_size; - while (angle < 0.0) { - angle += node->motion_table.num_angle_quantization_float; - } - while (angle >= node->motion_table.num_angle_quantization_float) { - angle -= node->motion_table.num_angle_quantization_float; - } + // Make sure in range [0, 2PI) + theta = (reals[2] < 0.0) ? (reals[2] + 2.0 * M_PI) : reals[2]; + theta = (theta > 2.0 * M_PI) ? (theta - 2.0 * M_PI) : theta; + angle = node->motion_table.getClosestAngularBin(theta); + // Turn the pose into a node, and check if it is valid index = NodeT::getIndex( static_cast(reals[0]), diff --git a/nav2_smac_planner/src/collision_checker.cpp b/nav2_smac_planner/src/collision_checker.cpp index e17d10e98a..172eb8abb7 100644 --- a/nav2_smac_planner/src/collision_checker.cpp +++ b/nav2_smac_planner/src/collision_checker.cpp @@ -17,6 +17,27 @@ namespace nav2_smac_planner { +GridCollisionChecker::GridCollisionChecker( + nav2_costmap_2d::Costmap2D * costmap, + unsigned int num_quantizations) +: FootprintCollisionChecker(costmap) +{ + // Convert number of regular bins into angles + float bin_size = 2 * M_PI / static_cast(num_quantizations); + angles_.reserve(num_quantizations); + for (unsigned int i = 0; i != num_quantizations; i++) { + angles_.push_back(bin_size * i); + } +} + +GridCollisionChecker::GridCollisionChecker( + nav2_costmap_2d::Costmap2D * costmap, + std::vector & angles) +: FootprintCollisionChecker(costmap), + angles_(angles) +{ +} + void GridCollisionChecker::setFootprint( const nav2_costmap_2d::Footprint & footprint, const bool & radius, @@ -35,16 +56,15 @@ void GridCollisionChecker::setFootprint( return; } - bin_size_ = 2.0 * M_PI / static_cast(num_quantizations_); - oriented_footprints_.reserve(num_quantizations_); + oriented_footprints_.reserve(angles_.size()); double sin_th, cos_th; geometry_msgs::msg::Point new_pt; const unsigned int footprint_size = footprint.size(); // Precompute the orientation bins for checking to use - for (unsigned int i = 0; i != num_quantizations_; i++) { - sin_th = sin(i * bin_size_); - cos_th = cos(i * bin_size_); + for (unsigned int i = 0; i != angles_.size(); i++) { + sin_th = sin(angles_[i]); + cos_th = cos(angles_[i]); nav2_costmap_2d::Footprint oriented_footprint; oriented_footprint.reserve(footprint_size); @@ -63,7 +83,7 @@ void GridCollisionChecker::setFootprint( bool GridCollisionChecker::inCollision( const float & x, const float & y, - const float & theta, + const float & angle_bin, const bool & traverse_unknown) { // Assumes setFootprint already set @@ -93,7 +113,6 @@ bool GridCollisionChecker::inCollision( // if possible inscribed, need to check actual footprint pose. // Use precomputed oriented footprints are done on initialization, // offset by translation value to collision check - int angle_bin = theta / bin_size_; geometry_msgs::msg::Point new_pt; const nav2_costmap_2d::Footprint & oriented_footprint = oriented_footprints_[angle_bin]; nav2_costmap_2d::Footprint current_footprint; diff --git a/nav2_smac_planner/src/node_hybrid.cpp b/nav2_smac_planner/src/node_hybrid.cpp index b02d99f326..16cb0925c4 100644 --- a/nav2_smac_planner/src/node_hybrid.cpp +++ b/nav2_smac_planner/src/node_hybrid.cpp @@ -247,6 +247,16 @@ MotionPoses HybridMotionTable::getProjections(const NodeHybrid * node) return projection_list; } +unsigned int HybridMotionTable::getClosestAngularBin(const double & theta) +{ + return static_cast(floor(theta / bin_size)); +} + +float HybridMotionTable::getAngleFromBin(const unsigned int & bin_idx) +{ + return bin_idx * bin_size; +} + NodeHybrid::NodeHybrid(const unsigned int index) : parent(nullptr), pose(0.0f, 0.0f, 0.0f), @@ -280,7 +290,7 @@ bool NodeHybrid::isNodeValid( GridCollisionChecker * collision_checker) { if (collision_checker->inCollision( - this->pose.x, this->pose.y, this->pose.theta * motion_table.bin_size, traverse_unknown)) + this->pose.x, this->pose.y, this->pose.theta /*bin number*/, traverse_unknown)) { return false; } diff --git a/nav2_smac_planner/src/node_lattice.cpp b/nav2_smac_planner/src/node_lattice.cpp index b3478c50c9..a985ed5197 100644 --- a/nav2_smac_planner/src/node_lattice.cpp +++ b/nav2_smac_planner/src/node_lattice.cpp @@ -35,6 +35,8 @@ namespace nav2_smac_planner // defining static member for all instance to share LatticeMotionTable NodeLattice::motion_table; +float NodeLattice::size_lookup = 25; +LookupTable NodeLattice::dist_heuristic_lookup_table; // Each of these tables are the projected motion models through // time and space applied to the search on the current node in @@ -88,6 +90,28 @@ LatticeMetadata LatticeMotionTable::getLatticeMetadata(const std::string & latti return {0 /*num bins*/, 0 /*turning rad*/}; } +unsigned int LatticeMotionTable::getClosestAngularBin(const double & theta) +{ + // TODO + // float min_dist = std::numeric_limits::max; + // unsigned int closest_idx = 0; + // float dist = 0.0; + // for (unsigned int i = 0; i != primitive_headings.size(); i++) { + // dist = fabs(theta - primitive_headings[i]); + // if (dist < min_dist) { + // min_dist = dist; + // closest_idx = i; + // } + // } + // return closest_idx; +} + +float LatticeMotionTable::getAngleFromBin(const unsigned int & bin_idx) +{ + //TODO + // return primitive_headings[bin_idx]; +} + NodeLattice::NodeLattice(const unsigned int index) : parent(nullptr), pose(0.0f, 0.0f, 0.0f), @@ -121,7 +145,7 @@ bool NodeLattice::isNodeValid( // TODO(steve) if primitive longer than 1.5 cells, then we need to split into 1 cell // increments and collision check across them if (collision_checker->inCollision( - this->pose.x, this->pose.y, this->pose.theta * motion_table.bin_size, traverse_unknown)) + this->pose.x, this->pose.y, this->pose.theta /*bin number*/, traverse_unknown)) { return false; } @@ -147,6 +171,22 @@ float NodeLattice::getHeuristicCost( return std::max(obstacle_heuristic, distance_heuristic); } +void NodeLattice::initMotionModel( + const MotionModel & motion_model, + unsigned int & size_x, + unsigned int & /*size_y*/, + unsigned int & /*num_angle_quantization*/, + SearchInfo & search_info) +{ + if (motion_model != MotionModel::STATE_LATTICE) { + throw std::runtime_error( + "Invalid motion model for Lattice node. Please select" + " STATE_LATTICE and provide a valid lattice file."); + } + + motion_table.initMotionModel(size_x, search_info); +} + float NodeLattice::getDistanceHeuristic( const Coordinates & node_coords, const Coordinates & goal_coords, @@ -181,8 +221,8 @@ float NodeLattice::getDistanceHeuristic( // to apply the distance heuristic. Since the lookup table is contains only the positive // X axis, we mirror the Y and theta values across the X axis to find the heuristic values. float motion_heuristic = 0.0; - const int floored_size = floor(NodeHybrid::size_lookup / 2.0); - const int ceiling_size = ceil(NodeHybrid::size_lookup / 2.0); + const int floored_size = floor(size_lookup / 2.0); + const int ceiling_size = ceil(size_lookup / 2.0); const float mirrored_relative_y = abs(node_coords_relative.y); if (abs(node_coords_relative.x) < floored_size && mirrored_relative_y < floored_size) { // Need to mirror angle if Y coordinate was mirrored @@ -198,35 +238,63 @@ float NodeLattice::getDistanceHeuristic( x_pos * ceiling_size * motion_table.num_angle_quantization + y_pos * motion_table.num_angle_quantization + theta_pos; - motion_heuristic = NodeHybrid::dist_heuristic_lookup_table[index]; + motion_heuristic = dist_heuristic_lookup_table[index]; } else if (obstacle_heuristic == 0.0) { static ompl::base::ScopedState<> from(motion_table.state_space), to(motion_table.state_space); to[0] = goal_coords.x; to[1] = goal_coords.y; - to[2] = goal_coords.theta * motion_table.num_angle_quantization; + to[2] = motion_table.getAngleFromBin(goal_coords.theta); from[0] = node_coords.x; from[1] = node_coords.y; - from[2] = node_coords.theta * motion_table.num_angle_quantization; + from[2] = motion_table.getAngleFromBin(node_coords.theta); motion_heuristic = motion_table.state_space->distance(from(), to()); } return motion_heuristic; } -void NodeLattice::initMotionModel( +void NodeLattice::precomputeDistanceHeuristic( + const float & lookup_table_dim, const MotionModel & motion_model, - unsigned int & size_x, - unsigned int & /*size_y*/, - unsigned int & /*num_angle_quantization*/, - SearchInfo & search_info) + const unsigned int & dim_3_size, + const SearchInfo & search_info) { - if (motion_model != MotionModel::STATE_LATTICE) { - throw std::runtime_error( - "Invalid motion model for Lattice node. Please select" - " STATE_LATTICE and provide a valid lattice file."); + // Dubin or Reeds-Shepp shortest distances + if (!search_info.allow_reverse_expansion) { + motion_table.state_space = std::make_unique( + search_info.minimum_turning_radius); + } else { + motion_table.state_space = std::make_unique( + search_info.minimum_turning_radius); } - motion_table.initMotionModel(size_x, search_info); + ompl::base::ScopedState<> from(motion_table.state_space), to(motion_table.state_space); + to[0] = 0.0; + to[1] = 0.0; + to[2] = 0.0; + size_lookup = lookup_table_dim; + float motion_heuristic = 0.0; + unsigned int index = 0; + int dim_3_size_int = static_cast(dim_3_size); + + // Create a lookup table of Dubin/Reeds-Shepp distances in a window around the goal + // to help drive the search towards admissible approaches. Deu to symmetries in the + // Heuristic space, we need to only store 2 of the 4 quadrants and simply mirror + // around the X axis any relative node lookup. This reduces memory overhead and increases + // the size of a window a platform can store in memory. + dist_heuristic_lookup_table.resize(size_lookup * ceil(size_lookup / 2.0) * dim_3_size_int); + for (float x = ceil(-size_lookup / 2.0); x <= floor(size_lookup / 2.0); x += 1.0) { + for (float y = 0.0; y <= floor(size_lookup / 2.0); y += 1.0) { + for (int heading = 0; heading != dim_3_size_int; heading++) { + from[0] = x; + from[1] = y; + from[2] = motion_table.getAngleFromBin(heading); + motion_heuristic = motion_table.state_space->distance(from(), to()); + dist_heuristic_lookup_table[index] = motion_heuristic; + index++; + } + } + } } void NodeLattice::getNeighbors( diff --git a/nav2_smac_planner/src/smac_planner_lattice.cpp b/nav2_smac_planner/src/smac_planner_lattice.cpp index d9ee491cb5..9a19746aae 100644 --- a/nav2_smac_planner/src/smac_planner_lattice.cpp +++ b/nav2_smac_planner/src/smac_planner_lattice.cpp @@ -58,7 +58,6 @@ void SmacPlannerLattice::configure( bool allow_unknown; int max_iterations; - int angle_quantizations; int lookup_table_size; SearchInfo search_info; @@ -109,10 +108,9 @@ void SmacPlannerLattice::configure( node, name + ".allow_reverse_expansion", rclcpp::ParameterValue(false)); node->get_parameter(name + ".allow_reverse_expansion", search_info.allow_reverse_expansion); - LatticeMetadata metadata = LatticeMotionTable::getLatticeMetadata(search_info.lattice_filepath); - _angle_quantizations = metadata.first; - _angle_bin_size = 2.0 * M_PI / static_cast(_angle_quantizations); - float min_turning_radius = metadata.second; + _metadata = LatticeMotionTable::getLatticeMetadata(search_info.lattice_filepath); + unsigned int angle_quantizations = _metadata.first; // TODO delete + float min_turning_radius = _metadata.second; MotionModel motion_model = MotionModel::STATE_LATTICE; @@ -128,7 +126,7 @@ void SmacPlannerLattice::configure( static_cast(_costmap->getResolution() * _downsampling_factor); // Initialize collision checker - _collision_checker = GridCollisionChecker(_costmap, _angle_quantizations); + _collision_checker = GridCollisionChecker(_costmap, angle_quantizations); //TODO give it a vector of angles from getLatticeMetadata() _collision_checker.setFootprint( costmap_ros->getRobotFootprint(), costmap_ros->getUseRadius(), @@ -141,7 +139,7 @@ void SmacPlannerLattice::configure( max_iterations, std::numeric_limits::max(), lookup_table_dim, - _angle_quantizations); + angle_quantizations); // TODO give this vector of angles size from getLatticeMetadata() // Initialize path smoother SmootherParams params; @@ -202,6 +200,28 @@ void SmacPlannerLattice::cleanup() _raw_plan_publisher.reset(); } +unsigned int getClosestAngularBin(const double & theta) +{ + // TODO + // float min_dist = std::numeric_limits::max; + // unsigned int closest_idx = 0; + // float dist = 0.0; + // for (unsigned int i = 0; i != _metadata.heading_angles.size(); i++) { + // dist = fabs(theta - _metadata.heading_angles[i]); + // if (dist < min_dist) { + // min_dist = dist; + // closest_idx = i; + // } + // } + // return closest_idx; +} + +float getAngleFromBin(const unsigned int & bin_idx) +{ + //TODO + // return _metadata.heading_angles[bin_idx]; +} + nav_msgs::msg::Path SmacPlannerLattice::createPlan( const geometry_msgs::msg::PoseStamped & start, const geometry_msgs::msg::PoseStamped & goal) @@ -223,21 +243,11 @@ nav_msgs::msg::Path SmacPlannerLattice::createPlan( // Set starting point, in A* bin search coordinates unsigned int mx, my; costmap->worldToMap(start.pose.position.x, start.pose.position.y, mx, my); - double orientation_bin = tf2::getYaw(start.pose.orientation) / _angle_bin_size; - while (orientation_bin < 0.0) { - orientation_bin += static_cast(_angle_quantizations); - } - unsigned int orientation_bin_id = static_cast(floor(orientation_bin)); - _a_star->setStart(mx, my, orientation_bin_id); + _a_star->setStart(mx, my, getClosestAngularBin(tf2::getYaw(start.pose.orientation))); // Set goal point, in A* bin search coordinates costmap->worldToMap(goal.pose.position.x, goal.pose.position.y, mx, my); - orientation_bin = tf2::getYaw(goal.pose.orientation) / _angle_bin_size; - while (orientation_bin < 0.0) { - orientation_bin += static_cast(_angle_quantizations); - } - orientation_bin_id = static_cast(floor(orientation_bin)); - _a_star->setGoal(mx, my, orientation_bin_id); + _a_star->setGoal(mx, my, getClosestAngularBin(tf2::getYaw(goal.pose.orientation))); // Setup message nav_msgs::msg::Path plan; @@ -280,7 +290,7 @@ nav_msgs::msg::Path SmacPlannerLattice::createPlan( plan.poses.reserve(path.size()); for (int i = path.size() - 1; i >= 0; --i) { pose.pose = getWorldCoords(path[i].x, path[i].y, costmap); - pose.pose.orientation = getWorldOrientation(path[i].theta, _angle_bin_size); + pose.pose.orientation = getWorldOrientation(getAngleFromBin(path[i].theta)); plan.poses.push_back(pose); } From 092c1d9c2dff70be4cd51d0a2fc0a04938ad5067 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Mon, 11 Oct 2021 16:32:27 -0700 Subject: [PATCH 05/31] integrating @jwallice42 s work and enabling reverse expansions --- .../include/nav2_smac_planner/node_hybrid.hpp | 30 - .../nav2_smac_planner/node_lattice.hpp | 10 +- .../smac_planner_lattice.hpp | 13 - .../include/nav2_smac_planner/types.hpp | 60 + .../include/nav2_smac_planner/utils.hpp | 52 + nav2_smac_planner/package.xml | 1 + nav2_smac_planner/src/node_hybrid.cpp | 5 +- nav2_smac_planner/src/node_lattice.cpp | 158 +- .../src/smac_planner_lattice.cpp | 42 +- nav2_smac_planner/test/CMakeLists.txt | 12 + nav2_smac_planner/test/output.json | 4538 +++++++++++++++++ nav2_smac_planner/test/test_nodelattice.cpp | 118 + 12 files changed, 4916 insertions(+), 123 deletions(-) create mode 100644 nav2_smac_planner/test/output.json create mode 100644 nav2_smac_planner/test/test_nodelattice.cpp diff --git a/nav2_smac_planner/include/nav2_smac_planner/node_hybrid.hpp b/nav2_smac_planner/include/nav2_smac_planner/node_hybrid.hpp index dab6d13339..b9efc48bbc 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/node_hybrid.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/node_hybrid.hpp @@ -38,36 +38,6 @@ namespace nav2_smac_planner typedef std::vector LookupTable; typedef std::pair TrigValues; -// Need seperate pose struct for motion table operations - -/** - * @struct nav2_smac_planner::MotionPose - * @brief A struct for poses in motion primitives - */ -struct MotionPose -{ - /** - * @brief A constructor for nav2_smac_planner::MotionPose - */ - MotionPose() {} - - /** - * @brief A constructor for nav2_smac_planner::MotionPose - * @param x X pose - * @param y Y pose - * @param theta Angle of pose - */ - MotionPose(const float & x, const float & y, const float & theta) - : _x(x), _y(y), _theta(theta) - {} - - float _x; - float _y; - float _theta; -}; - -typedef std::vector MotionPoses; - // Must forward declare class NodeHybrid; diff --git a/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp b/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp index 274744cd0e..b889e44143 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp @@ -25,6 +25,7 @@ #include #include #include +#include #include "ompl/base/StateSpace.h" @@ -32,6 +33,7 @@ #include "nav2_smac_planner/types.hpp" #include "nav2_smac_planner/collision_checker.hpp" #include "nav2_smac_planner/node_hybrid.hpp" +#include "nav2_smac_planner/utils.hpp" namespace nav2_smac_planner { @@ -40,8 +42,6 @@ namespace nav2_smac_planner class NodeLattice; class NodeHybrid; -typedef std::pair LatticeMetadata; - /** * @struct nav2_smac_planner::LatticeMotionTable * @brief A table of motion primitives and related functions @@ -69,7 +69,7 @@ struct LatticeMotionTable * @param node Ptr to NodeLattice * @return A set of motion poses */ - MotionPoses getProjections(const NodeLattice * node); + MotionPoses getMotionPrimitives(const NodeLattice * node); /** * @brief Get file metadata needed @@ -94,18 +94,18 @@ struct LatticeMotionTable */ float getAngleFromBin(const unsigned int & bin_idx); - MotionPoses projections; unsigned int size_x; unsigned int num_angle_quantization; - float min_turning_radius; float change_penalty; float non_straight_penalty; float cost_penalty; float reverse_penalty; bool allow_reverse_expansion; + std::vector> motion_primitives; ompl::base::StateSpacePtr state_space; std::vector trig_values; std::string current_lattice_filepath; + LatticeMetadata lattice_metadata; }; /** diff --git a/nav2_smac_planner/include/nav2_smac_planner/smac_planner_lattice.hpp b/nav2_smac_planner/include/nav2_smac_planner/smac_planner_lattice.hpp index 4855ed72b0..908120eab2 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/smac_planner_lattice.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/smac_planner_lattice.hpp @@ -87,19 +87,6 @@ class SmacPlannerLattice : public nav2_core::GlobalPlanner const geometry_msgs::msg::PoseStamped & goal) override; protected: - /** - * @brief Get the angular bin to use from a raw orientation - * @param theta Angle in radians - * @return bin index of closest angle to request - */ - unsigned int getClosestAngularBin(const double & theta); - - /** - * @brief Get the raw orientation from an angular bin - * @param bin_idx Index of the bin - * @return Raw orientation in radians - */ - float getAngleFromBin(const unsigned int & bin_idx); std::unique_ptr> _a_star; GridCollisionChecker _collision_checker; diff --git a/nav2_smac_planner/include/nav2_smac_planner/types.hpp b/nav2_smac_planner/include/nav2_smac_planner/types.hpp index c5b2e1d823..09c4436f2b 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/types.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/types.hpp @@ -88,6 +88,66 @@ struct SmootherParams double w_smooth_; }; +/** + * @struct nav2_smac_planner::MotionPose + * @brief A struct for poses in motion primitives + */ +struct MotionPose +{ + /** + * @brief A constructor for nav2_smac_planner::MotionPose + */ + MotionPose() {} + + /** + * @brief A constructor for nav2_smac_planner::MotionPose + * @param x X pose + * @param y Y pose + * @param theta Angle of pose + */ + MotionPose(const float & x, const float & y, const float & theta) + : _x(x), _y(y), _theta(theta) + {} + + float _x; + float _y; + float _theta; +}; + +typedef std::vector MotionPoses; + +/** + * @struct nav2_smac_planner::LatticeMetadata + * @brief A struct of all lattice metadata + */ +struct LatticeMetadata +{ + float min_turning_radius; + float primitive_resolution; + float grid_resolution; + float max_length; + unsigned int number_of_headings; + std::string output_file; + std::vector heading_angles; + unsigned int number_of_trajectories; +}; + +/** + * @struct nav2_smac_planner::MotionPrimitive + * @brief A struct of all motion primitive data + */ +struct MotionPrimitive +{ + unsigned int trajectory_id; + float start_angle; + float end_angle; + float turning_radius; + float trajectory_length; + float arc_length; + float straight_length; + MotionPoses poses; +}; + } // namespace nav2_smac_planner #endif // NAV2_SMAC_PLANNER__TYPES_HPP_ diff --git a/nav2_smac_planner/include/nav2_smac_planner/utils.hpp b/nav2_smac_planner/include/nav2_smac_planner/utils.hpp index ebf2ea10c3..ab55befafd 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/utils.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/utils.hpp @@ -118,6 +118,58 @@ inline double findCircumscribedCost(std::shared_ptreigen3_cmake_module eigen ompl + nlohmann_json ament_lint_common ament_lint_auto diff --git a/nav2_smac_planner/src/node_hybrid.cpp b/nav2_smac_planner/src/node_hybrid.cpp index 16cb0925c4..967398d6e8 100644 --- a/nav2_smac_planner/src/node_hybrid.cpp +++ b/nav2_smac_planner/src/node_hybrid.cpp @@ -520,10 +520,11 @@ float NodeHybrid::getDistanceHeuristic( const float dy = node_coords.y - goal_coords.y; double dtheta_bin = node_coords.theta - goal_coords.theta; + if (dtheta_bin < 0) { + dtheta_bin += motion_table.num_angle_quantization; + } if (dtheta_bin > motion_table.num_angle_quantization) { dtheta_bin -= motion_table.num_angle_quantization; - } else if (dtheta_bin < 0) { - dtheta_bin += motion_table.num_angle_quantization; } Coordinates node_coords_relative( diff --git a/nav2_smac_planner/src/node_lattice.cpp b/nav2_smac_planner/src/node_lattice.cpp index a985ed5197..6a09c3c413 100644 --- a/nav2_smac_planner/src/node_lattice.cpp +++ b/nav2_smac_planner/src/node_lattice.cpp @@ -21,6 +21,7 @@ #include #include #include +#include #include "ompl/base/ScopedState.h" #include "ompl/base/spaces/DubinsStateSpace.h" @@ -62,54 +63,126 @@ void LatticeMotionTable::initMotionModel( current_lattice_filepath = search_info.lattice_filepath; allow_reverse_expansion = search_info.allow_reverse_expansion; - // TODO(Matt) read in file, precompute based on orientation bins for lookup at runtime - // file is `search_info.lattice_filepath`, to be read in from plugin and provided here. - - // TODO(Matt) create a state_space with the max turning rad primitive within the file - // (or another -- mid?) - // to use for analytic expansions and heuristic generation. Potentially make both an - // extreme and a passive one? - - // TODO(Matt) populate num_angle_quantization, size_x, min_turning_radius, trig_values, - // all of the member variables of LatticeMotionTable + // Get the metadata about this minimum control set + lattice_metadata = getLatticeMetadata(current_lattice_filepath); + std::ifstream latticeFile(current_lattice_filepath); + if(!latticeFile.is_open()) { + throw std::runtime_error("Could not open lattice file"); + } + nlohmann::json json; + latticeFile >> json; + num_angle_quantization = lattice_metadata.number_of_headings; + + if (!state_space) { + if (!allow_reverse_expansion) { + state_space = std::make_unique( + lattice_metadata.min_turning_radius); + } else { + state_space = std::make_unique( + lattice_metadata.min_turning_radius); + } + } - // TODO use allow_reverse_expansion to set state_space to dubins/reeds-shepp + // Populate the motion primitives at each heading angle + float prev_start_angle = 0.0; + std::vector primitives; + nlohmann::json json_primitives = json["primitives"]; + for(unsigned int i = 0; i < json_primitives.size(); ++i) { + MotionPrimitive new_primitive; + fromJsonToMotionPrimitive(json_primitives[i], new_primitive); + + if(prev_start_angle != new_primitive.start_angle) { + motion_primitives.push_back(primitives); + primitives.clear(); + prev_start_angle = new_primitive.start_angle; + } + primitives.push_back(new_primitive); + } + motion_primitives.push_back(primitives); + + // Populate useful precomputed values to be leveraged + trig_values.reserve(lattice_metadata.number_of_headings); + for(unsigned int i = 0; i < lattice_metadata.heading_angles.size(); ++i) { + trig_values.emplace_back( + cos(lattice_metadata.heading_angles[i]), + sin(lattice_metadata.heading_angles[i])); + } } -MotionPoses LatticeMotionTable::getProjections(const NodeLattice * node) +MotionPoses LatticeMotionTable::getMotionPrimitives(const NodeLattice * node) { - // TODO use allow_reverse_expansion to get forward or inverse pair as well - return MotionPoses(); // TODO(Matt) lookup at run time the primitives to use at node + // TODO get full, include primitive ID, somehow communicate more than just an end pose? + // we will likely want to know the motion primitive index (0-104) + //That the lattice node will store for the backtrace + + std::vector & prims_at_heading = motion_primitives[node->pose.theta]; + MotionPoses primitive_projection_list; + primitive_projection_list.reserve(prims_at_heading.size()); + + std::vector::const_iterator it; + for(it = prims_at_heading.begin(); it != prims_at_heading.end(); ++it) { + const MotionPose & end_pose = it->poses.back(); + primitive_projection_list.emplace_back( + node->pose.x + (end_pose._x / lattice_metadata.grid_resolution), + node->pose.y + (end_pose._y / lattice_metadata.grid_resolution), + it->end_angle /*this is the ending angular bin*/); + } + + if (allow_reverse_expansion) { + // Find heading bin of the reverse expansion + double reserve_heading = node->pose.theta - (num_angle_quantization / 2); + if (reserve_heading < 0) { + reserve_heading += num_angle_quantization; + } + if (reserve_heading > num_angle_quantization) { + reserve_heading -= num_angle_quantization; + } + prims_at_heading = motion_primitives[reserve_heading]; + std::vector::const_iterator it; + for(it = prims_at_heading.begin(); it != prims_at_heading.end(); ++it) { + const MotionPose & end_pose = it->poses.back(); + primitive_projection_list.emplace_back( + node->pose.x + (end_pose._x / lattice_metadata.grid_resolution), + node->pose.y + (end_pose._y / lattice_metadata.grid_resolution), + it->end_angle /*this is the ending angular bin*/); + } + } + + return primitive_projection_list; } LatticeMetadata LatticeMotionTable::getLatticeMetadata(const std::string & lattice_filepath) { - // TODO(Matt) from this file extract and return the number of angle bins and - // turning radius in global coordinates, respectively. - // world coordinates meaning meters, not cells - return {0 /*num bins*/, 0 /*turning rad*/}; + std::ifstream lattice_file(lattice_filepath); + if(!lattice_file.is_open()) { + throw std::runtime_error("Could not open lattice file!"); + } + + nlohmann::json j; + lattice_file >> j; + LatticeMetadata metadata; + fromJsonToMetaData(j["latticeMetadata"], metadata); + return metadata; } unsigned int LatticeMotionTable::getClosestAngularBin(const double & theta) { - // TODO - // float min_dist = std::numeric_limits::max; - // unsigned int closest_idx = 0; - // float dist = 0.0; - // for (unsigned int i = 0; i != primitive_headings.size(); i++) { - // dist = fabs(theta - primitive_headings[i]); - // if (dist < min_dist) { - // min_dist = dist; - // closest_idx = i; - // } - // } - // return closest_idx; + float min_dist = std::numeric_limits::max(); + unsigned int closest_idx = 0; + float dist = 0.0; + for (unsigned int i = 0; i != lattice_metadata.heading_angles.size(); i++) { + dist = fabs(theta - lattice_metadata.heading_angles[i]); + if (dist < min_dist) { + min_dist = dist; + closest_idx = i; + } + } + return closest_idx; } float LatticeMotionTable::getAngleFromBin(const unsigned int & bin_idx) { - //TODO - // return primitive_headings[bin_idx]; + return lattice_metadata.heading_angles[bin_idx]; } NodeLattice::NodeLattice(const unsigned int index) @@ -206,10 +279,11 @@ float NodeLattice::getDistanceHeuristic( const float dy = node_coords.y - goal_coords.y; double dtheta_bin = node_coords.theta - goal_coords.theta; + if (dtheta_bin < 0) { + dtheta_bin += motion_table.num_angle_quantization; + } if (dtheta_bin > motion_table.num_angle_quantization) { dtheta_bin -= motion_table.num_angle_quantization; - } else if (dtheta_bin < 0) { - dtheta_bin += motion_table.num_angle_quantization; } Coordinates node_coords_relative( @@ -306,13 +380,13 @@ void NodeLattice::getNeighbors( unsigned int index = 0; NodePtr neighbor = nullptr; Coordinates initial_node_coords; - const MotionPoses motion_projections = motion_table.getProjections(this); + const MotionPoses motion_primitives = motion_table.getMotionPrimitives(this); - for (unsigned int i = 0; i != motion_projections.size(); i++) { + for (unsigned int i = 0; i != motion_primitives.size(); i++) { index = NodeLattice::getIndex( - static_cast(motion_projections[i]._x), - static_cast(motion_projections[i]._y), - static_cast(motion_projections[i]._theta)); + static_cast(motion_primitives[i]._x), + static_cast(motion_primitives[i]._y), + static_cast(motion_primitives[i]._theta)); if (NeighborGetter(index, neighbor) && !neighbor->wasVisited()) { // For State Lattice, the poses are exact bin increments and the pose @@ -322,9 +396,9 @@ void NodeLattice::getNeighbors( // collision checking, and backtracing (even if not strictly necessary). neighbor->setPose( Coordinates( - motion_projections[i]._x, - motion_projections[i]._y, - motion_projections[i]._theta)); + motion_primitives[i]._x, + motion_primitives[i]._y, + motion_primitives[i]._theta)); if (neighbor->isNodeValid(traverse_unknown, collision_checker)) { neighbor->setMotionPrimitiveIndex(i); neighbors.push_back(neighbor); diff --git a/nav2_smac_planner/src/smac_planner_lattice.cpp b/nav2_smac_planner/src/smac_planner_lattice.cpp index 9a19746aae..8bb8bbb40e 100644 --- a/nav2_smac_planner/src/smac_planner_lattice.cpp +++ b/nav2_smac_planner/src/smac_planner_lattice.cpp @@ -109,9 +109,6 @@ void SmacPlannerLattice::configure( node->get_parameter(name + ".allow_reverse_expansion", search_info.allow_reverse_expansion); _metadata = LatticeMotionTable::getLatticeMetadata(search_info.lattice_filepath); - unsigned int angle_quantizations = _metadata.first; // TODO delete - float min_turning_radius = _metadata.second; - MotionModel motion_model = MotionModel::STATE_LATTICE; if (max_iterations <= 0) { @@ -126,7 +123,7 @@ void SmacPlannerLattice::configure( static_cast(_costmap->getResolution() * _downsampling_factor); // Initialize collision checker - _collision_checker = GridCollisionChecker(_costmap, angle_quantizations); //TODO give it a vector of angles from getLatticeMetadata() + _collision_checker = GridCollisionChecker(_costmap, _metadata.heading_angles); _collision_checker.setFootprint( costmap_ros->getRobotFootprint(), costmap_ros->getUseRadius(), @@ -139,13 +136,13 @@ void SmacPlannerLattice::configure( max_iterations, std::numeric_limits::max(), lookup_table_dim, - angle_quantizations); // TODO give this vector of angles size from getLatticeMetadata() + _metadata.number_of_headings); // Initialize path smoother SmootherParams params; params.get(node, name); _smoother = std::make_unique(params); - _smoother->initialize(min_turning_radius); + _smoother->initialize(_metadata.min_turning_radius); // Initialize costmap downsampler if (_downsample_costmap && _downsampling_factor > 1) { @@ -200,28 +197,6 @@ void SmacPlannerLattice::cleanup() _raw_plan_publisher.reset(); } -unsigned int getClosestAngularBin(const double & theta) -{ - // TODO - // float min_dist = std::numeric_limits::max; - // unsigned int closest_idx = 0; - // float dist = 0.0; - // for (unsigned int i = 0; i != _metadata.heading_angles.size(); i++) { - // dist = fabs(theta - _metadata.heading_angles[i]); - // if (dist < min_dist) { - // min_dist = dist; - // closest_idx = i; - // } - // } - // return closest_idx; -} - -float getAngleFromBin(const unsigned int & bin_idx) -{ - //TODO - // return _metadata.heading_angles[bin_idx]; -} - nav_msgs::msg::Path SmacPlannerLattice::createPlan( const geometry_msgs::msg::PoseStamped & start, const geometry_msgs::msg::PoseStamped & goal) @@ -243,11 +218,15 @@ nav_msgs::msg::Path SmacPlannerLattice::createPlan( // Set starting point, in A* bin search coordinates unsigned int mx, my; costmap->worldToMap(start.pose.position.x, start.pose.position.y, mx, my); - _a_star->setStart(mx, my, getClosestAngularBin(tf2::getYaw(start.pose.orientation))); + _a_star->setStart( + mx, my, + NodeLattice::motion_table.getClosestAngularBin(tf2::getYaw(start.pose.orientation))); // Set goal point, in A* bin search coordinates costmap->worldToMap(goal.pose.position.x, goal.pose.position.y, mx, my); - _a_star->setGoal(mx, my, getClosestAngularBin(tf2::getYaw(goal.pose.orientation))); + _a_star->setGoal( + mx, my, + NodeLattice::motion_table.getClosestAngularBin(tf2::getYaw(goal.pose.orientation))); // Setup message nav_msgs::msg::Path plan; @@ -290,7 +269,8 @@ nav_msgs::msg::Path SmacPlannerLattice::createPlan( plan.poses.reserve(path.size()); for (int i = path.size() - 1; i >= 0; --i) { pose.pose = getWorldCoords(path[i].x, path[i].y, costmap); - pose.pose.orientation = getWorldOrientation(getAngleFromBin(path[i].theta)); + pose.pose.orientation = getWorldOrientation( + NodeLattice::motion_table.getAngleFromBin(path[i].theta)); plan.poses.push_back(pose); } diff --git a/nav2_smac_planner/test/CMakeLists.txt b/nav2_smac_planner/test/CMakeLists.txt index 1409c86deb..7b65220b93 100644 --- a/nav2_smac_planner/test/CMakeLists.txt +++ b/nav2_smac_planner/test/CMakeLists.txt @@ -86,3 +86,15 @@ target_link_libraries(test_smac_2d ${library_name}_2d ) +#Test Lattice node +ament_add_gtest(test_lattice_node + test_nodelattice.cpp) + +ament_target_dependencies(test_lattice_node + ${dependencies} +) + +target_link_libraries(test_lattice_node + ${library_name} ) + +install(FILES output.json DESTINATION share/${PROJECT_NAME}) diff --git a/nav2_smac_planner/test/output.json b/nav2_smac_planner/test/output.json new file mode 100644 index 0000000000..bcc46f6c40 --- /dev/null +++ b/nav2_smac_planner/test/output.json @@ -0,0 +1,4538 @@ +{ + "version": 1.0, + "dateGenerated": "2021-06-08", + "latticeMetadata": { + "turningRadius": 0.4, + "stepDistance": 0.005, + "gridSeparation": 0.05, + "maxLength": 1, + "numberOfHeadings": 16, + "outputFile": "output.json", + "headingAngles": [ + -180.0, + -153.43494882292202, + -135.0, + -116.56505117707799, + -90.0, + -63.43494882292201, + 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Wallace +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. Reserved. + +#include "nav2_smac_planner/node_lattice.hpp" +#include "gtest/gtest.h" +#include "ament_index_cpp/get_package_share_directory.hpp" +#include + +using json = nlohmann::json; + +TEST(NodeLatticeTest, parser_test) +{ + std::string pkg_share_dir = ament_index_cpp::get_package_share_directory("nav2_smac_planner"); + std::string filePath = pkg_share_dir + "/output.json"; + std::ifstream myJsonFile(filePath); + + ASSERT_TRUE(myJsonFile.is_open()); + + json j; + myJsonFile >> j; + + nav2_smac_planner::LatticeMetadata metaData; + nav2_smac_planner::MotionPrimitive myPrimitive; + nav2_smac_planner::MotionPose pose; + + json jsonMetaData = j["latticeMetadata"]; + json jsonPrimatives = j["primitives"]; + json jsonPose = jsonPrimatives[0]["poses"][0]; + + nav2_smac_planner::fromJsonToMetaData(jsonMetaData, metaData); + + //Checks for parsing meta data + EXPECT_NEAR(metaData.min_turning_radius, 0.4, 0.001); + EXPECT_NEAR(metaData.primitive_resolution, 0.005, 0.0001); + EXPECT_NEAR(metaData.grid_resolution, 0.05, 0.001); + EXPECT_NEAR(metaData.max_length, 1, 0.01); + EXPECT_NEAR(metaData.number_of_headings, 16, 0.01); + EXPECT_EQ(metaData.output_file, "output.json"); + EXPECT_NEAR(metaData.heading_angles[0], -180.0, 0.01); + + std::vector myPrimitives; + for(unsigned int i = 0; i < jsonPrimatives.size() ; ++i) + { + nav2_smac_planner::MotionPrimitive newPrimative; + nav2_smac_planner::fromJsonToMotionPrimitive(jsonPrimatives[i], newPrimative ); + myPrimitives.push_back(newPrimative); + } + + //Checks for parsing primitives + EXPECT_NEAR(myPrimitives[0].trajectory_id, 0, 0.01); + EXPECT_NEAR(myPrimitives[0].start_angle, 0.0,0.01); + EXPECT_NEAR(myPrimitives[0].end_angle, 0.0, 0.01); + EXPECT_NEAR(myPrimitives[0].turning_radius, 0.0, 0.01); + EXPECT_NEAR(myPrimitives[0].trajectory_length, 0.2, 0.01); + EXPECT_NEAR(myPrimitives[0].arc_length, 0.0, 0.01); + EXPECT_NEAR(myPrimitives[0].straight_length, 0.2, 0.01); + + EXPECT_NEAR(myPrimitives[0].poses[0]._x, 0.0, 0.01); + EXPECT_NEAR(myPrimitives[0].poses[0]._y, 0.0, 0.01); + EXPECT_NEAR(myPrimitives[0].poses[0]._theta, 0.0, 0.01); + + EXPECT_NEAR(myPrimitives[0].poses[1]._x, 0.06667, 0.01); + EXPECT_NEAR(myPrimitives[0].poses[1]._y, 0.0, 0.01); + EXPECT_NEAR(myPrimitives[0].poses[1]._theta, 0.0, 0.01); +} + +TEST(NodeLatticeTest, test_node_lattice_neighbors) +{ + std::string pkg_share_dir = ament_index_cpp::get_package_share_directory("nav2_smac_planner"); + std::string filePath = pkg_share_dir + "/output.json"; + + nav2_smac_planner::SearchInfo info; + info.minimum_turning_radius = 1.1; + info.non_straight_penalty = 1; + info.change_penalty = 1; + info.reverse_penalty = 1; + info.cost_penalty = 1; + info.analytic_expansion_ratio = 1; + info.lattice_filepath = filePath; + info.cache_obstacle_heuristic = true; + + unsigned int x = 100; + unsigned int y = 100; + unsigned int angle_quantization = 16; + + nav2_smac_planner::NodeLattice::initMotionModel(nav2_smac_planner::MotionModel::STATE_LATTICE, + x, + y, + angle_quantization, + info); + + nav2_smac_planner::NodeLattice aNode(0); + aNode.setPose( nav2_smac_planner::NodeHybrid::Coordinates(0, 0, 0) ); + nav2_smac_planner::MotionPoses projections = nav2_smac_planner::NodeLattice::motion_table.getMotionPrimitives( &aNode); + + EXPECT_NEAR(projections[0]._x, 0.13333, 0.01); + EXPECT_NEAR(projections[0]._y, 0.0, 0.01); + EXPECT_NEAR(projections[0]._theta, 0.0, 0.01); + + aNode.setPose(nav2_smac_planner::NodeHybrid::Coordinates(0, 0, 1)); + + projections = nav2_smac_planner::NodeLattice::motion_table.getMotionPrimitives( &aNode); + + EXPECT_NEAR(projections[0]._x, -0.13333, 0.01); + EXPECT_NEAR(projections[0]._y, 0.0, 0.01); + EXPECT_NEAR(projections[0]._theta, 3.14, 0.01); +} \ No newline at end of file From 4119ef32d1aa1bafe120a67e94c93ea817b367c3 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Wed, 13 Oct 2021 15:03:41 -0700 Subject: [PATCH 06/31] adding in intermediate collision checking and backtracing --- .../nav2_smac_planner/collision_checker.hpp | 15 +- .../nav2_smac_planner/node_lattice.hpp | 30 ++-- .../include/nav2_smac_planner/types.hpp | 7 + .../include/nav2_smac_planner/utils.hpp | 15 -- nav2_smac_planner/src/a_star.cpp | 51 ++++++- nav2_smac_planner/src/collision_checker.cpp | 14 +- nav2_smac_planner/src/node_lattice.cpp | 135 +++++++++++------- nav2_smac_planner/src/smac_planner_hybrid.cpp | 2 +- .../src/smac_planner_lattice.cpp | 13 +- nav2_smac_planner/test/test_nodelattice.cpp | 18 +-- 10 files changed, 200 insertions(+), 100 deletions(-) diff --git a/nav2_smac_planner/include/nav2_smac_planner/collision_checker.hpp b/nav2_smac_planner/include/nav2_smac_planner/collision_checker.hpp index aa27404fcf..27170c5689 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/collision_checker.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/collision_checker.hpp @@ -47,9 +47,9 @@ class GridCollisionChecker * @param angles The vector of possible angle bins to precompute for * orientations for to speed up collision checking, in radians */ - GridCollisionChecker( - nav2_costmap_2d::Costmap2D * costmap, - std::vector & angles); + // GridCollisionChecker( + // nav2_costmap_2d::Costmap2D * costmap, + // std::vector & angles); /** * @brief Set the footprint to use with collision checker @@ -91,6 +91,15 @@ class GridCollisionChecker */ float getCost(); + /** + * @brief Get the angles of the precomputed footprint orientations + * @return the ordered vector of angles corresponding to footprints + */ + std::vector & getPrecomputedAngles() + { + return angles_; + } + protected: std::vector oriented_footprints_; nav2_costmap_2d::Footprint unoriented_footprint_; diff --git a/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp b/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp index b889e44143..cceadbdeeb 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp @@ -69,7 +69,7 @@ struct LatticeMotionTable * @param node Ptr to NodeLattice * @return A set of motion poses */ - MotionPoses getMotionPrimitives(const NodeLattice * node); + MotionPrimitives getMotionPrimitives(const NodeLattice * node); /** * @brief Get file metadata needed @@ -92,7 +92,7 @@ struct LatticeMotionTable * @param bin_idx Index of the bin * @return Raw orientation in radians */ - float getAngleFromBin(const unsigned int & bin_idx); + float & getAngleFromBin(const unsigned int & bin_idx); unsigned int size_x; unsigned int num_angle_quantization; @@ -157,21 +157,21 @@ class NodeLattice void reset(); /** - * @brief Sets the motion primitive index used to achieve node in search - * @param reference to motion primitive idx + * @brief Sets the motion primitive used to achieve node in search + * @param pointer to motion primitive */ - inline void setMotionPrimitiveIndex(const unsigned int & idx) + inline void setMotionPrimitive(MotionPrimitive * prim) { - _motion_primitive_index = idx; + _motion_primitive = prim; } /** - * @brief Gets the motion primitive index used to achieve node in search - * @return reference to motion primitive idx + * @brief Gets the motion primitive used to achieve node in search + * @return pointer to motion primitive */ - inline unsigned int & getMotionPrimitiveIndex() + inline MotionPrimitive * getMotionPrimitive() { - return _motion_primitive_index; + return _motion_primitive; } /** @@ -230,9 +230,15 @@ class NodeLattice /** * @brief Check if this node is valid * @param traverse_unknown If we can explore unknown nodes on the graph + * @param collision_checker Collision checker object to aid in validity checking + * @param primitive Optional argument if needing to check over a primitive + * not only a terminal pose * @return whether this node is valid and collision free */ - bool isNodeValid(const bool & traverse_unknown, GridCollisionChecker * collision_checker); + bool isNodeValid( + const bool & traverse_unknown, + GridCollisionChecker * collision_checker, + MotionPrimitive * primitive = nullptr); /** * @brief Get traversal cost of parent node to child node @@ -381,7 +387,7 @@ class NodeLattice float _accumulated_cost; unsigned int _index; bool _was_visited; - unsigned int _motion_primitive_index; + MotionPrimitive * _motion_primitive; }; } // namespace nav2_smac_planner diff --git a/nav2_smac_planner/include/nav2_smac_planner/types.hpp b/nav2_smac_planner/include/nav2_smac_planner/types.hpp index 09c4436f2b..741c32f103 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/types.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/types.hpp @@ -109,6 +109,11 @@ struct MotionPose : _x(x), _y(y), _theta(theta) {} + MotionPose operator-(const MotionPose & p2) + { + return MotionPose(this->_x - p2._x, this->_y - p2._y, this->_theta - p2._theta); + } + float _x; float _y; float _theta; @@ -148,6 +153,8 @@ struct MotionPrimitive MotionPoses poses; }; +typedef std::vector MotionPrimitives; + } // namespace nav2_smac_planner #endif // NAV2_SMAC_PLANNER__TYPES_HPP_ diff --git a/nav2_smac_planner/include/nav2_smac_planner/utils.hpp b/nav2_smac_planner/include/nav2_smac_planner/utils.hpp index ab55befafd..e486dae71f 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/utils.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/utils.hpp @@ -46,21 +46,6 @@ inline geometry_msgs::msg::Pose getWorldCoords( return msg; } -/** -* @brief Create quaternion from A* coord bins -* @param theta continuous bin coordinates angle -* @return quaternion orientation in map frame -*/ -inline geometry_msgs::msg::Quaternion getWorldOrientation( - const float & theta, - const float & bin_size) -{ - // theta is in continuous bin coordinates, must convert to world orientation - tf2::Quaternion q; - q.setEuler(0.0, 0.0, theta * static_cast(bin_size)); - return tf2::toMsg(q); -} - /** * @brief Create quaternion from radians * @param theta continuous bin coordinates angle diff --git a/nav2_smac_planner/src/a_star.cpp b/nav2_smac_planner/src/a_star.cpp index 09f450e36e..5e139c9823 100644 --- a/nav2_smac_planner/src/a_star.cpp +++ b/nav2_smac_planner/src/a_star.cpp @@ -332,8 +332,53 @@ bool AStarAlgorithm::backtracePath(NodePtr node, CoordinateVector & path return path.size() > 0; } -template -bool AStarAlgorithm::backtracePath(NodePtr node, CoordinateVector & path) +template<> +bool AStarAlgorithm::backtracePath(NodePtr node, CoordinateVector & path) +{ + if (!node->parent) { + return false; + } + + NodePtr current_node = node; + MotionPrimitive * prim = nullptr; + const float & grid_resolution = NodeLattice::motion_table.lattice_metadata.grid_resolution; + + while (current_node->parent) { + prim = current_node->getMotionPrimitive(); + // if motion primitive is valid, then was searched (rather than analytically expanded), + // include dense path of subpoints making up the primitive at grid resolution + if (prim) { + Coordinates initial_pose, prim_pose; + initial_pose.x = current_node->pose.x - (prim->poses.back()._x / grid_resolution); + initial_pose.y = current_node->pose.y - (prim->poses.back()._y / grid_resolution); + initial_pose.theta = NodeLattice::motion_table.getAngleFromBin(prim->start_angle); /*rad*/ + + for (auto it = prim->poses.rbegin(); it != prim->poses.rend(); ++it) { + // Convert primitive pose into grid space if it should be checked + prim_pose.x = initial_pose.x + (it->_x / grid_resolution); + prim_pose.y = initial_pose.y + (it->_y / grid_resolution); + prim_pose.theta = initial_pose.theta + it->_theta; /*rad*/ + if (prim_pose.theta < 0.0) { + prim_pose.theta += 2.0 * M_PI; + } + if (prim_pose.theta > 2.0 * M_PI) { + prim_pose.theta -= 2.0 * M_PI; + } + path.push_back(prim_pose); + } + } else { + path.push_back(current_node->pose); + // Convert angle to radians + path.back().theta = NodeLattice::motion_table.getAngleFromBin(path.back().theta); + } + current_node = current_node->parent; + } + + return path.size() > 0; +} + +template<> +bool AStarAlgorithm::backtracePath(NodePtr node, CoordinateVector & path) { if (!node->parent) { return false; @@ -343,6 +388,8 @@ bool AStarAlgorithm::backtracePath(NodePtr node, CoordinateVector & path) while (current_node->parent) { path.push_back(current_node->pose); + // Convert angle to radians + path.back().theta = NodeHybrid::motion_table.getAngleFromBin(path.back().theta); current_node = current_node->parent; } diff --git a/nav2_smac_planner/src/collision_checker.cpp b/nav2_smac_planner/src/collision_checker.cpp index 172eb8abb7..d9af6d0bf8 100644 --- a/nav2_smac_planner/src/collision_checker.cpp +++ b/nav2_smac_planner/src/collision_checker.cpp @@ -30,13 +30,13 @@ GridCollisionChecker::GridCollisionChecker( } } -GridCollisionChecker::GridCollisionChecker( - nav2_costmap_2d::Costmap2D * costmap, - std::vector & angles) -: FootprintCollisionChecker(costmap), - angles_(angles) -{ -} +// GridCollisionChecker::GridCollisionChecker( +// nav2_costmap_2d::Costmap2D * costmap, +// std::vector & angles) +// : FootprintCollisionChecker(costmap), +// angles_(angles) +// { +// } void GridCollisionChecker::setFootprint( const nav2_costmap_2d::Footprint & footprint, diff --git a/nav2_smac_planner/src/node_lattice.cpp b/nav2_smac_planner/src/node_lattice.cpp index 6a09c3c413..efdf156f44 100644 --- a/nav2_smac_planner/src/node_lattice.cpp +++ b/nav2_smac_planner/src/node_lattice.cpp @@ -109,27 +109,13 @@ void LatticeMotionTable::initMotionModel( } } -MotionPoses LatticeMotionTable::getMotionPrimitives(const NodeLattice * node) +MotionPrimitives LatticeMotionTable::getMotionPrimitives(const NodeLattice * node) { - // TODO get full, include primitive ID, somehow communicate more than just an end pose? - // we will likely want to know the motion primitive index (0-104) - //That the lattice node will store for the backtrace - - std::vector & prims_at_heading = motion_primitives[node->pose.theta]; - MotionPoses primitive_projection_list; - primitive_projection_list.reserve(prims_at_heading.size()); - - std::vector::const_iterator it; - for(it = prims_at_heading.begin(); it != prims_at_heading.end(); ++it) { - const MotionPose & end_pose = it->poses.back(); - primitive_projection_list.emplace_back( - node->pose.x + (end_pose._x / lattice_metadata.grid_resolution), - node->pose.y + (end_pose._y / lattice_metadata.grid_resolution), - it->end_angle /*this is the ending angular bin*/); - } + MotionPrimitives & prims_at_heading = motion_primitives[node->pose.theta]; + MotionPrimitives primitive_projection_list = prims_at_heading; if (allow_reverse_expansion) { - // Find heading bin of the reverse expansion + // Find normalized heading bin of the reverse expansion double reserve_heading = node->pose.theta - (num_angle_quantization / 2); if (reserve_heading < 0) { reserve_heading += num_angle_quantization; @@ -137,15 +123,12 @@ MotionPoses LatticeMotionTable::getMotionPrimitives(const NodeLattice * node) if (reserve_heading > num_angle_quantization) { reserve_heading -= num_angle_quantization; } + prims_at_heading = motion_primitives[reserve_heading]; - std::vector::const_iterator it; - for(it = prims_at_heading.begin(); it != prims_at_heading.end(); ++it) { - const MotionPose & end_pose = it->poses.back(); - primitive_projection_list.emplace_back( - node->pose.x + (end_pose._x / lattice_metadata.grid_resolution), - node->pose.y + (end_pose._y / lattice_metadata.grid_resolution), - it->end_angle /*this is the ending angular bin*/); - } + primitive_projection_list.insert( + primitive_projection_list.end(), + prims_at_heading.begin(), + prims_at_heading.end()); } return primitive_projection_list; @@ -180,7 +163,7 @@ unsigned int LatticeMotionTable::getClosestAngularBin(const double & theta) return closest_idx; } -float LatticeMotionTable::getAngleFromBin(const unsigned int & bin_idx) +float & LatticeMotionTable::getAngleFromBin(const unsigned int & bin_idx) { return lattice_metadata.heading_angles[bin_idx]; } @@ -191,7 +174,8 @@ NodeLattice::NodeLattice(const unsigned int index) _cell_cost(std::numeric_limits::quiet_NaN()), _accumulated_cost(std::numeric_limits::max()), _index(index), - _was_visited(false) + _was_visited(false), + _motion_primitive(nullptr) { } @@ -209,21 +193,69 @@ void NodeLattice::reset() pose.x = 0.0f; pose.y = 0.0f; pose.theta = 0.0f; + _motion_primitive = nullptr; } bool NodeLattice::isNodeValid( const bool & traverse_unknown, - GridCollisionChecker * collision_checker) + GridCollisionChecker * collision_checker, + MotionPrimitive * motion_primitive) { - // TODO(steve) if primitive longer than 1.5 cells, then we need to split into 1 cell - // increments and collision check across them + // Check primitive end pose + // Convert grid quantization of primitives to radians, then collision checker quantization + static const double bin_size = 2.0 * M_PI / collision_checker->getPrecomputedAngles().size(); + const double & angle = motion_table.getAngleFromBin(this->pose.theta) / bin_size; if (collision_checker->inCollision( - this->pose.x, this->pose.y, this->pose.theta /*bin number*/, traverse_unknown)) + this->pose.x, this->pose.y, angle /*bin in collision checker*/, traverse_unknown)) { return false; } - _cell_cost = collision_checker->getCost(); + // Set the cost of a node to the highest cost across the primitive + float max_cell_cost = collision_checker->getCost(); + + // If valid motion primitives are set, check intermediary poses > 1 cell apart + if (motion_primitive) { + const float & grid_resolution = motion_table.lattice_metadata.grid_resolution; + const float & resolution_diag_sq = 2.0 * grid_resolution * grid_resolution; + MotionPose last_pose(1e9, 1e9, 1e9), pose_dist(0.0, 0.0, 0.0); + + // Back out the initial node starting point to move motion primitive relative to + MotionPose initial_pose, prim_pose; + initial_pose._x = this->pose.x - (motion_primitive->poses.back()._x / grid_resolution); + initial_pose._y = this->pose.y - (motion_primitive->poses.back()._y / grid_resolution); + initial_pose._theta = motion_table.getAngleFromBin(motion_primitive->start_angle); /*rad*/ + + for (auto it = motion_primitive->poses.begin(); it != motion_primitive->poses.end(); ++it) { + // poses are in metric coordinates from (0, 0), not grid space yet + pose_dist = *it - last_pose; + // Avoid square roots by (hypot(x, y) > res) == (x*x+y*y > diag*diag) + if (pose_dist._x * pose_dist._x + pose_dist._y * pose_dist._y > resolution_diag_sq) { + last_pose = *it; + // Convert primitive pose into grid space if it should be checked + prim_pose._x = initial_pose._x + (it->_x / grid_resolution); + prim_pose._y = initial_pose._y + (it->_y / grid_resolution); + prim_pose._theta = initial_pose._theta + it->_theta; /*rad*/ + if (prim_pose._theta < 0.0) { + prim_pose._theta += 2.0 * M_PI; + } + if (prim_pose._theta > 2.0 * M_PI) { + prim_pose._theta -= 2.0 * M_PI; + } + if (collision_checker->inCollision( + prim_pose._x, + prim_pose._y, + prim_pose._theta / bin_size /*bin in collision checker*/, + traverse_unknown)) + { + return false; + } + max_cell_cost = std::max(max_cell_cost, collision_checker->getCost()); + } + } + } + + _cell_cost = max_cell_cost; return true; } @@ -379,29 +411,36 @@ void NodeLattice::getNeighbors( { unsigned int index = 0; NodePtr neighbor = nullptr; - Coordinates initial_node_coords; - const MotionPoses motion_primitives = motion_table.getMotionPrimitives(this); + Coordinates initial_node_coords, motion_projection; + MotionPrimitives motion_primitives = motion_table.getMotionPrimitives(this); + const float & grid_resolution = motion_table.lattice_metadata.grid_resolution; for (unsigned int i = 0; i != motion_primitives.size(); i++) { + const MotionPose & end_pose = motion_primitives[i].poses.back(); + motion_projection.x = this->pose.x + (end_pose._x / grid_resolution); + motion_projection.y = this->pose.y + (end_pose._y / grid_resolution); + motion_projection.theta = motion_primitives[i].end_angle /*this is the ending angular bin*/; index = NodeLattice::getIndex( - static_cast(motion_primitives[i]._x), - static_cast(motion_primitives[i]._y), - static_cast(motion_primitives[i]._theta)); + static_cast(motion_projection.x), + static_cast(motion_projection.y), + static_cast(motion_projection.theta)); if (NeighborGetter(index, neighbor) && !neighbor->wasVisited()) { - // For State Lattice, the poses are exact bin increments and the pose - // can be derived from the index alone. - // However, we store them as if they were continuous so that it may be - // leveraged by the analytic expansion tool to accelerate goal approaches, - // collision checking, and backtracing (even if not strictly necessary). + // Cache the initial pose in case it was visited but valid + // don't want to disrupt continuous coordinate expansion + initial_node_coords = neighbor->pose; neighbor->setPose( Coordinates( - motion_primitives[i]._x, - motion_primitives[i]._y, - motion_primitives[i]._theta)); - if (neighbor->isNodeValid(traverse_unknown, collision_checker)) { - neighbor->setMotionPrimitiveIndex(i); + motion_projection.x, + motion_projection.y, + motion_projection.theta)); + // Using a special isNodeValid API here, giving the motion primitive to use to + // validity check the transition of the current node to the new node over + if (neighbor->isNodeValid(traverse_unknown, collision_checker, &motion_primitives[i])) { + neighbor->setMotionPrimitive(&motion_primitives[i]); neighbors.push_back(neighbor); + } else { + neighbor->setPose(initial_node_coords); } } } diff --git a/nav2_smac_planner/src/smac_planner_hybrid.cpp b/nav2_smac_planner/src/smac_planner_hybrid.cpp index d86f6d2afd..660248bb20 100644 --- a/nav2_smac_planner/src/smac_planner_hybrid.cpp +++ b/nav2_smac_planner/src/smac_planner_hybrid.cpp @@ -324,7 +324,7 @@ nav_msgs::msg::Path SmacPlannerHybrid::createPlan( plan.poses.reserve(path.size()); for (int i = path.size() - 1; i >= 0; --i) { pose.pose = getWorldCoords(path[i].x, path[i].y, costmap); - pose.pose.orientation = getWorldOrientation(path[i].theta, _angle_bin_size); + pose.pose.orientation = getWorldOrientation(path[i].theta); plan.poses.push_back(pose); } diff --git a/nav2_smac_planner/src/smac_planner_lattice.cpp b/nav2_smac_planner/src/smac_planner_lattice.cpp index 8bb8bbb40e..600d2569a1 100644 --- a/nav2_smac_planner/src/smac_planner_lattice.cpp +++ b/nav2_smac_planner/src/smac_planner_lattice.cpp @@ -122,8 +122,14 @@ void SmacPlannerLattice::configure( static_cast(lookup_table_size) / static_cast(_costmap->getResolution() * _downsampling_factor); - // Initialize collision checker - _collision_checker = GridCollisionChecker(_costmap, _metadata.heading_angles); + // Initialize collision checker using 72 evenly sized bins instead of the lattice + // heading angles. This is done so that we have precomputed angles every 5 degrees. + // If we used the sparse lattice headings (usually 16), then when we attempt to collision + // check for intermediary points of the primitives, we're forced to round to one of the 16 + // increments causing "wobbly" checks that could cause larger robots to virtually show collisions + // in valid configurations. This approximation helps to bound orientation error for all checks + // in exchange for slight inaccuracies in the collision headings in terminal search states. + _collision_checker = GridCollisionChecker(_costmap, 72u); _collision_checker.setFootprint( costmap_ros->getRobotFootprint(), costmap_ros->getUseRadius(), @@ -269,8 +275,7 @@ nav_msgs::msg::Path SmacPlannerLattice::createPlan( plan.poses.reserve(path.size()); for (int i = path.size() - 1; i >= 0; --i) { pose.pose = getWorldCoords(path[i].x, path[i].y, costmap); - pose.pose.orientation = getWorldOrientation( - NodeLattice::motion_table.getAngleFromBin(path[i].theta)); + pose.pose.orientation = getWorldOrientation(path[i].theta); plan.poses.push_back(pose); } diff --git a/nav2_smac_planner/test/test_nodelattice.cpp b/nav2_smac_planner/test/test_nodelattice.cpp index 964fb8c937..2ec9083fec 100644 --- a/nav2_smac_planner/test/test_nodelattice.cpp +++ b/nav2_smac_planner/test/test_nodelattice.cpp @@ -102,17 +102,19 @@ TEST(NodeLatticeTest, test_node_lattice_neighbors) nav2_smac_planner::NodeLattice aNode(0); aNode.setPose( nav2_smac_planner::NodeHybrid::Coordinates(0, 0, 0) ); - nav2_smac_planner::MotionPoses projections = nav2_smac_planner::NodeLattice::motion_table.getMotionPrimitives( &aNode); + nav2_smac_planner::MotionPrimitives projections = nav2_smac_planner::NodeLattice::motion_table.getMotionPrimitives(&aNode); - EXPECT_NEAR(projections[0]._x, 0.13333, 0.01); - EXPECT_NEAR(projections[0]._y, 0.0, 0.01); - EXPECT_NEAR(projections[0]._theta, 0.0, 0.01); + // TODO meaning of returns have changed + // EXPECT_NEAR(projections[0]._x, 0.13333, 0.01); + // EXPECT_NEAR(projections[0]._y, 0.0, 0.01); + // EXPECT_NEAR(projections[0]._theta, 0.0, 0.01); aNode.setPose(nav2_smac_planner::NodeHybrid::Coordinates(0, 0, 1)); - projections = nav2_smac_planner::NodeLattice::motion_table.getMotionPrimitives( &aNode); + projections = nav2_smac_planner::NodeLattice::motion_table.getMotionPrimitives(&aNode); - EXPECT_NEAR(projections[0]._x, -0.13333, 0.01); - EXPECT_NEAR(projections[0]._y, 0.0, 0.01); - EXPECT_NEAR(projections[0]._theta, 3.14, 0.01); + // TODO meaning of returns have changed + // EXPECT_NEAR(projections[0]._x, -0.13333, 0.01); + // EXPECT_NEAR(projections[0]._y, 0.0, 0.01); + // EXPECT_NEAR(projections[0]._theta, 3.14, 0.01); } \ No newline at end of file From 461d2faab09da6fb63e5860552c3bf00de830fba Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Thu, 14 Oct 2021 15:54:52 -0700 Subject: [PATCH 07/31] adding traversal function --- .../nav2_smac_planner/node_lattice.hpp | 18 +++++ nav2_smac_planner/src/node_lattice.cpp | 69 ++++++++++++++++++- 2 files changed, 85 insertions(+), 2 deletions(-) diff --git a/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp b/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp index cceadbdeeb..208fbf9680 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp @@ -227,6 +227,23 @@ class NodeLattice return _index; } + /** + * @brief Sets that this primitive is moving in reverse + */ + inline void backwards() + { + _backwards = true; + } + + /** + * @brief Gets if this primitive is moving in reverse + * @return backwards If moving in reverse + */ + inline bool & isBackward() + { + return _backwards; + } + /** * @brief Check if this node is valid * @param traverse_unknown If we can explore unknown nodes on the graph @@ -388,6 +405,7 @@ class NodeLattice unsigned int _index; bool _was_visited; MotionPrimitive * _motion_primitive; + bool _backwards; }; } // namespace nav2_smac_planner diff --git a/nav2_smac_planner/src/node_lattice.cpp b/nav2_smac_planner/src/node_lattice.cpp index efdf156f44..4982f89f67 100644 --- a/nav2_smac_planner/src/node_lattice.cpp +++ b/nav2_smac_planner/src/node_lattice.cpp @@ -175,7 +175,8 @@ NodeLattice::NodeLattice(const unsigned int index) _accumulated_cost(std::numeric_limits::max()), _index(index), _was_visited(false), - _motion_primitive(nullptr) + _motion_primitive(nullptr), + _backwards(false) { } @@ -194,6 +195,7 @@ void NodeLattice::reset() pose.y = 0.0f; pose.theta = 0.0f; _motion_primitive = nullptr; + _backwards = false; } bool NodeLattice::isNodeValid( @@ -261,7 +263,56 @@ bool NodeLattice::isNodeValid( float NodeLattice::getTraversalCost(const NodePtr & child) { - return 0.0; // TODO(josh): cost of different angles, changing, nonstraight, backwards, distance + const float normalized_cost = child->getCost() / 252.0; + if (std::isnan(normalized_cost)) { + throw std::runtime_error( + "Node attempted to get traversal " + "cost without a known collision cost!"); + } + + // this is the first node + MotionPrimitive * prim = this->getMotionPrimitive(); + MotionPrimitive * transition_prim = child->getMotionPrimitive(); + if (prim == nullptr) { + return transition_prim->trajectory_length; + } + + // Note(stevemacenski): `travel_cost_raw` at one point contained a term: + // `+ motion_table.cost_penalty * normalized_cost;` + // It has been removed, but we may want to readdress this point and determine + // the technically and theoretically correctness of that choice. I feel technically speaking + // that term has merit, but it doesn't seem to impact performance or path quality. + // W/o it lowers the travel cost, which would drive the heuristics up proportionally where I + // would expect it to plan much faster in all cases, but I only see it in some cases. Since + // this term would weight against moving to high cost zones, I would expect to see more smooth + // central motion, but I only see it in some cases, possibly because the obstacle heuristic is + // already driving the robot away from high cost areas; implicitly handling this. However, + // then I would expect that not adding it here would make it unbalanced enough that path quality + // would suffer, which I did not see in my limited experimentation, possibly due to the smoother. + float travel_cost = 0.0; + float travel_cost_raw = transition_prim->trajectory_length; + + if (transition_prim->arc_length < 0.001) { + // New motion is a straight motion, no additional costs to be applied + travel_cost = travel_cost_raw; + } else { + if (prim->left == transition_prim->left) { + // Turning motion but keeps in same general direction: encourages to commit to actions + travel_cost = travel_cost_raw * motion_table.non_straight_penalty; + } else { + // Turning motion and velocity directions: penalizes wiggling. + travel_cost = travel_cost_raw * + (motion_table.non_straight_penalty + motion_table.change_penalty); + } + } + + // If backwards flag is set, this primitive is moving in reverse + if (this->isBackward()) { + // reverse direction + travel_cost *= motion_table.reverse_penalty; + } + + return travel_cost; } float NodeLattice::getHeuristicCost( @@ -415,6 +466,14 @@ void NodeLattice::getNeighbors( MotionPrimitives motion_primitives = motion_table.getMotionPrimitives(this); const float & grid_resolution = motion_table.lattice_metadata.grid_resolution; + unsigned int direction_change_idx = 1e9; + for (unsigned int i = 0; i != motion_primitives.size(); i++) { + if (motion_primitives[0].start_angle != motion_primitives[i].start_angle) { + direction_change_idx = i; + break; + } + } + for (unsigned int i = 0; i != motion_primitives.size(); i++) { const MotionPose & end_pose = motion_primitives[i].poses.back(); motion_projection.x = this->pose.x + (end_pose._x / grid_resolution); @@ -438,6 +497,12 @@ void NodeLattice::getNeighbors( // validity check the transition of the current node to the new node over if (neighbor->isNodeValid(traverse_unknown, collision_checker, &motion_primitives[i])) { neighbor->setMotionPrimitive(&motion_primitives[i]); + // Marking if this search was obtained in the reverse direction + if ((!this->isBackward() && i >= direction_change_idx) || + (this->isBackward() && i <= direction_change_idx)) + { + neighbor->backwards(); + } neighbors.push_back(neighbor); } else { neighbor->setPose(initial_node_coords); From 1d7199282656fec0c11d698c73b2b21b8591e4a5 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Mon, 18 Oct 2021 15:01:40 -0700 Subject: [PATCH 08/31] adding test coverage and passing for node lattice --- .../nav2_smac_planner/analytic_expansion.hpp | 10 +- .../nav2_smac_planner/collision_checker.hpp | 2 +- .../nav2_smac_planner/node_lattice.hpp | 3 +- .../smac_planner_lattice.hpp | 1 - .../include/nav2_smac_planner/smoother.hpp | 6 +- .../include/nav2_smac_planner/types.hpp | 12 +- .../include/nav2_smac_planner/utils.hpp | 48 +- nav2_smac_planner/src/analytic_expansion.cpp | 6 +- nav2_smac_planner/src/node_lattice.cpp | 32 +- .../src/smac_planner_lattice.cpp | 2 +- nav2_smac_planner/test/CMakeLists.txt | 14 +- nav2_smac_planner/test/output.json | 5689 ++++++++--------- nav2_smac_planner/test/test_nodehybrid.cpp | 1 - nav2_smac_planner/test/test_nodelattice.cpp | 292 +- 14 files changed, 2892 insertions(+), 3226 deletions(-) diff --git a/nav2_smac_planner/include/nav2_smac_planner/analytic_expansion.hpp b/nav2_smac_planner/include/nav2_smac_planner/analytic_expansion.hpp index b45127de1e..679a7cd2cd 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/analytic_expansion.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/analytic_expansion.hpp @@ -16,6 +16,7 @@ #define NAV2_SMAC_PLANNER__ANALYTIC_EXPANSION_HPP_ #include +#include #include "nav2_smac_planner/node_2d.hpp" #include "nav2_smac_planner/node_hybrid.hpp" @@ -30,7 +31,6 @@ template class AnalyticExpansion { public: - typedef NodeT * NodePtr; typedef typename NodeT::Coordinates Coordinates; typedef std::function NodeGetter; @@ -95,7 +95,9 @@ class AnalyticExpansion * @param getter The function object that gets valid nodes from the graph * @return A set of analytically expanded nodes to the goal from current node, if possible */ - AnalyticExpansionNodes getAnalyticPath(const NodePtr & node, const NodePtr & goal, const NodeGetter & getter); + AnalyticExpansionNodes getAnalyticPath( + const NodePtr & node, const NodePtr & goal, + const NodeGetter & getter); /** * @brief Takes final analytic expansion and appends to current expanded node @@ -104,7 +106,9 @@ class AnalyticExpansion * @param expanded_nodes Expanded nodes to append to end of current search path * @return Node pointer to goal node if successful, else return nullptr */ - NodePtr setAnalyticPath(const NodePtr & node, const NodePtr & goal, const AnalyticExpansionNodes & expanded_nodes); + NodePtr setAnalyticPath( + const NodePtr & node, const NodePtr & goal, + const AnalyticExpansionNodes & expanded_nodes); protected: MotionModel _motion_model; diff --git a/nav2_smac_planner/include/nav2_smac_planner/collision_checker.hpp b/nav2_smac_planner/include/nav2_smac_planner/collision_checker.hpp index 27170c5689..7057cac501 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/collision_checker.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/collision_checker.hpp @@ -93,7 +93,7 @@ class GridCollisionChecker /** * @brief Get the angles of the precomputed footprint orientations - * @return the ordered vector of angles corresponding to footprints + * @return the ordered vector of angles corresponding to footprints */ std::vector & getPrecomputedAngles() { diff --git a/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp b/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp index 208fbf9680..33fd64348c 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp @@ -15,6 +15,8 @@ #ifndef NAV2_SMAC_PLANNER__NODE_LATTICE_HPP_ #define NAV2_SMAC_PLANNER__NODE_LATTICE_HPP_ +#include + #include #include #include @@ -25,7 +27,6 @@ #include #include #include -#include #include "ompl/base/StateSpace.h" diff --git a/nav2_smac_planner/include/nav2_smac_planner/smac_planner_lattice.hpp b/nav2_smac_planner/include/nav2_smac_planner/smac_planner_lattice.hpp index 908120eab2..2b935ee090 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/smac_planner_lattice.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/smac_planner_lattice.hpp @@ -87,7 +87,6 @@ class SmacPlannerLattice : public nav2_core::GlobalPlanner const geometry_msgs::msg::PoseStamped & goal) override; protected: - std::unique_ptr> _a_star; GridCollisionChecker _collision_checker; std::unique_ptr _smoother; diff --git a/nav2_smac_planner/include/nav2_smac_planner/smoother.hpp b/nav2_smac_planner/include/nav2_smac_planner/smoother.hpp index cbadf92f67..02d473e0a8 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/smoother.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/smoother.hpp @@ -74,13 +74,15 @@ class Smoother * @param dim Dimension ID of interest * @return dim value */ - inline double getFieldByDim(const geometry_msgs::msg::PoseStamped & msg, const unsigned int & dim); + inline double getFieldByDim( + const geometry_msgs::msg::PoseStamped & msg, + const unsigned int & dim); /** * @brief Set the field value for a given dimension * @param msg Current pose to sample * @param dim Dimension ID of interest - * @param value to set the dimention to for the pose + * @param value to set the dimention to for the pose */ inline void setFieldByDim( geometry_msgs::msg::PoseStamped & msg, const unsigned int dim, diff --git a/nav2_smac_planner/include/nav2_smac_planner/types.hpp b/nav2_smac_planner/include/nav2_smac_planner/types.hpp index 741c32f103..89fcffcc74 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/types.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/types.hpp @@ -128,13 +128,12 @@ typedef std::vector MotionPoses; struct LatticeMetadata { float min_turning_radius; - float primitive_resolution; float grid_resolution; - float max_length; - unsigned int number_of_headings; - std::string output_file; - std::vector heading_angles; - unsigned int number_of_trajectories; + unsigned int number_of_headings; + std::string output_file; + std::vector heading_angles; + unsigned int number_of_trajectories; + std::string motion_model; }; /** @@ -150,6 +149,7 @@ struct MotionPrimitive float trajectory_length; float arc_length; float straight_length; + bool left_turn; MotionPoses poses; }; diff --git a/nav2_smac_planner/include/nav2_smac_planner/utils.hpp b/nav2_smac_planner/include/nav2_smac_planner/utils.hpp index e486dae71f..e9d1f685a7 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/utils.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/utils.hpp @@ -104,26 +104,25 @@ inline double findCircumscribedCost(std::shared_ptr #include +#include +#include + #include "nav2_smac_planner/analytic_expansion.hpp" namespace nav2_smac_planner @@ -226,7 +229,8 @@ typename AnalyticExpansion::NodePtr AnalyticExpansion::setAnalytic } template<> -typename AnalyticExpansion::AnalyticExpansionNodes AnalyticExpansion::getAnalyticPath( +typename AnalyticExpansion::AnalyticExpansionNodes AnalyticExpansion:: +getAnalyticPath( const NodePtr & node, const NodePtr & goal, const NodeGetter & node_getter) diff --git a/nav2_smac_planner/src/node_lattice.cpp b/nav2_smac_planner/src/node_lattice.cpp index 4982f89f67..5b1918057f 100644 --- a/nav2_smac_planner/src/node_lattice.cpp +++ b/nav2_smac_planner/src/node_lattice.cpp @@ -66,7 +66,7 @@ void LatticeMotionTable::initMotionModel( // Get the metadata about this minimum control set lattice_metadata = getLatticeMetadata(current_lattice_filepath); std::ifstream latticeFile(current_lattice_filepath); - if(!latticeFile.is_open()) { + if (!latticeFile.is_open()) { throw std::runtime_error("Could not open lattice file"); } nlohmann::json json; @@ -85,24 +85,24 @@ void LatticeMotionTable::initMotionModel( // Populate the motion primitives at each heading angle float prev_start_angle = 0.0; - std::vector primitives; + std::vector primitives; nlohmann::json json_primitives = json["primitives"]; - for(unsigned int i = 0; i < json_primitives.size(); ++i) { - MotionPrimitive new_primitive; - fromJsonToMotionPrimitive(json_primitives[i], new_primitive); + for (unsigned int i = 0; i < json_primitives.size(); ++i) { + MotionPrimitive new_primitive; + fromJsonToMotionPrimitive(json_primitives[i], new_primitive); - if(prev_start_angle != new_primitive.start_angle) { + if (prev_start_angle != new_primitive.start_angle) { motion_primitives.push_back(primitives); - primitives.clear(); + primitives.clear(); prev_start_angle = new_primitive.start_angle; } - primitives.push_back(new_primitive); + primitives.push_back(new_primitive); } motion_primitives.push_back(primitives); // Populate useful precomputed values to be leveraged trig_values.reserve(lattice_metadata.number_of_headings); - for(unsigned int i = 0; i < lattice_metadata.heading_angles.size(); ++i) { + for (unsigned int i = 0; i < lattice_metadata.heading_angles.size(); ++i) { trig_values.emplace_back( cos(lattice_metadata.heading_angles[i]), sin(lattice_metadata.heading_angles[i])); @@ -112,7 +112,7 @@ void LatticeMotionTable::initMotionModel( MotionPrimitives LatticeMotionTable::getMotionPrimitives(const NodeLattice * node) { MotionPrimitives & prims_at_heading = motion_primitives[node->pose.theta]; - MotionPrimitives primitive_projection_list = prims_at_heading; + MotionPrimitives primitive_projection_list = prims_at_heading; if (allow_reverse_expansion) { // Find normalized heading bin of the reverse expansion @@ -137,14 +137,14 @@ MotionPrimitives LatticeMotionTable::getMotionPrimitives(const NodeLattice * nod LatticeMetadata LatticeMotionTable::getLatticeMetadata(const std::string & lattice_filepath) { std::ifstream lattice_file(lattice_filepath); - if(!lattice_file.is_open()) { + if (!lattice_file.is_open()) { throw std::runtime_error("Could not open lattice file!"); } nlohmann::json j; lattice_file >> j; LatticeMetadata metadata; - fromJsonToMetaData(j["latticeMetadata"], metadata); + fromJsonToMetaData(j["lattice_metadata"], metadata); return metadata; } @@ -296,11 +296,11 @@ float NodeLattice::getTraversalCost(const NodePtr & child) // New motion is a straight motion, no additional costs to be applied travel_cost = travel_cost_raw; } else { - if (prim->left == transition_prim->left) { + if (prim->left_turn == transition_prim->left_turn) { // Turning motion but keeps in same general direction: encourages to commit to actions travel_cost = travel_cost_raw * motion_table.non_straight_penalty; } else { - // Turning motion and velocity directions: penalizes wiggling. + // Turning motion and velocity directions: penalizes wiggling. travel_cost = travel_cost_raw * (motion_table.non_straight_penalty + motion_table.change_penalty); } @@ -498,8 +498,8 @@ void NodeLattice::getNeighbors( if (neighbor->isNodeValid(traverse_unknown, collision_checker, &motion_primitives[i])) { neighbor->setMotionPrimitive(&motion_primitives[i]); // Marking if this search was obtained in the reverse direction - if ((!this->isBackward() && i >= direction_change_idx) || - (this->isBackward() && i <= direction_change_idx)) + if ((!this->isBackward() && i >= direction_change_idx) || + (this->isBackward() && i <= direction_change_idx)) { neighbor->backwards(); } diff --git a/nav2_smac_planner/src/smac_planner_lattice.cpp b/nav2_smac_planner/src/smac_planner_lattice.cpp index 600d2569a1..e6f3502b98 100644 --- a/nav2_smac_planner/src/smac_planner_lattice.cpp +++ b/nav2_smac_planner/src/smac_planner_lattice.cpp @@ -128,7 +128,7 @@ void SmacPlannerLattice::configure( // check for intermediary points of the primitives, we're forced to round to one of the 16 // increments causing "wobbly" checks that could cause larger robots to virtually show collisions // in valid configurations. This approximation helps to bound orientation error for all checks - // in exchange for slight inaccuracies in the collision headings in terminal search states. + // in exchange for slight inaccuracies in the collision headings in terminal search states. _collision_checker = GridCollisionChecker(_costmap, 72u); _collision_checker.setFootprint( costmap_ros->getRobotFootprint(), diff --git a/nav2_smac_planner/test/CMakeLists.txt b/nav2_smac_planner/test/CMakeLists.txt index 7b65220b93..609b0b4174 100644 --- a/nav2_smac_planner/test/CMakeLists.txt +++ b/nav2_smac_planner/test/CMakeLists.txt @@ -86,15 +86,11 @@ target_link_libraries(test_smac_2d ${library_name}_2d ) -#Test Lattice node -ament_add_gtest(test_lattice_node - test_nodelattice.cpp) +#Test Lattice node +ament_add_gtest(test_lattice_node test_nodelattice.cpp) -ament_target_dependencies(test_lattice_node - ${dependencies} -) +ament_target_dependencies(test_lattice_node ${dependencies}) -target_link_libraries(test_lattice_node - ${library_name} ) +target_link_libraries(test_lattice_node ${library_name}) -install(FILES output.json DESTINATION share/${PROJECT_NAME}) +install(FILES output.json DESTINATION share/${PROJECT_NAME}) diff --git a/nav2_smac_planner/test/output.json b/nav2_smac_planner/test/output.json index bcc46f6c40..07e1bfb1a4 100644 --- a/nav2_smac_planner/test/output.json +++ b/nav2_smac_planner/test/output.json @@ -1,43 +1,42 @@ { "version": 1.0, - "dateGenerated": "2021-06-08", - "latticeMetadata": { - "turningRadius": 0.4, - "stepDistance": 0.005, - "gridSeparation": 0.05, - "maxLength": 1, - "numberOfHeadings": 16, - "outputFile": "output.json", - "headingAngles": [ - -180.0, - -153.43494882292202, - -135.0, - -116.56505117707799, - -90.0, - -63.43494882292201, - -45.0, - -26.56505117707799, + "date_generated": "2021-10-14", + "lattice_metadata": { + "motion_model": "ackermann", + "turning_radius": 0.5, + "grid_resolution": 0.05, + "stopping_threshold": 5, + "num_of_headings": 16, + "output_file": "output.json", + "heading_angles": [ 0.0, - 26.56505117707799, - 45.0, - 63.43494882292201, - 90.0, - 116.56505117707799, - 135.0, - 153.43494882292202, - 180.0 + 0.4636476090008061, + 0.7853981633974483, + 1.1071487177940904, + 1.5707963267948966, + 2.0344439357957027, + 2.356194490192345, + 2.677945044588987, + 3.141592653589793, + -2.677945044588987, + -2.356194490192345, + -2.0344439357957027, + -1.5707963267948966, + -1.1071487177940904, + -0.7853981633974483, + -0.4636476090008061 ], - "numberOfTrajectories": 104 + "number_of_trajectories": 80 }, "primitives": [ { - "trajectoryId": 0, - "startAngle": 0.0, - "endAngle": 0.0, - "radius": 0, - "trajectoryLength": 0.2, - "arcLength": 0.0, - "straightLength": 0.2, + "trajectory_id": 0, + "start_angle_index": 0, + "end_angle_index": 13, + "trajectory_radius": 0.5259, + "trajectory_length": 0.64856, + "arc_length": 0.58225, + "straight_length": 0.06631, "poses": [ [ 0.0, @@ -45,169 +44,131 @@ 0.0 ], [ - 0.06667, - 0.0, - 0.0 + 0.05284, + -0.00266, + -0.10064988343582648 ], [ - 0.13333, - 0.0, - 0.0 - ] - ] - }, - { - "trajectoryId": 1, - "startAngle": 0.0, - "endAngle": 26.56505117707799, - "radius": 0.4236, - "trajectoryLength": 0.20820112717274147, - "arcLength": 0.19640112717274147, - "straightLength": 0.011799999999999991, - "poses": [ - [ - 0.0, - 0.0, - 0.07728785079152484 + 0.10515, + -0.01062, + -0.20129976687165296 ], [ - 0.06521, - 0.00505, - 0.23188739606064668 + 0.15639, + -0.02379, + -0.30194965030747944 ], [ - 0.12886, - 0.02008, - 0.38629880480400086 - ] - ] - }, - { - "trajectoryId": 2, - "startAngle": -0.0, - "endAngle": -26.56505117707799, - "radius": 0.4236, - "trajectoryLength": 0.20820112717274147, - "arcLength": 0.19640112717274147, - "straightLength": 0.011799999999999991, - "poses": [ - [ - 0.0, - -0.0, - -0.07728785079152484 + 0.20605, + -0.04205, + -0.4025995337433055 ], [ - 0.06521, - -0.00505, - -0.23188739606064668 + 0.25363, + -0.0652, + -0.503249417179132 ], [ - 0.12886, - -0.02008, - -0.38629880480400086 - ] - ] - }, - { - "trajectoryId": 3, - "startAngle": 0.0, - "endAngle": 26.56505117707799, - "radius": 0.8472, - "trajectoryLength": 0.41640225434548295, - "arcLength": 0.39280225434548294, - "straightLength": 0.023599999999999982, - "poses": [ + 0.29864, + -0.09302, + -0.6038993006149584 + ], [ - 0.0, - 0.0, - 0.03316065952958909 + 0.34062, + -0.12521, + -0.7045491840507849 ], [ - 0.05607, - 0.00186, - 0.0992607498429092 + 0.37916, + -0.16147, + -0.805199067486611 ], [ - 0.1119, - 0.00742, - 0.1656174868971147 + 0.41386, + -0.20141, + -0.9058489509224374 ], [ - 0.16724, - 0.01667, - 0.2318357474858811 + 0.44437, + -0.24464, + -1.006498834358264 ], [ - 0.22184, - 0.02956, - 0.2981320120235546 + 0.47038, + -0.29071, + -1.1071487177940904 ], [ - 0.27547, - 0.04604, - 0.36432002602701186 + 0.47038, + -0.29071, + -1.1071487177940904 ], [ - 0.32789, - 0.06603, - 0.43040362056026316 + 0.5, + -0.35, + -1.1071487177940904 ] ] }, { - "trajectoryId": 4, - "startAngle": -0.0, - "endAngle": -26.56505117707799, - "radius": 0.8472, - "trajectoryLength": 0.41640225434548295, - "arcLength": 0.39280225434548294, - "straightLength": 0.023599999999999982, + "trajectory_id": 1, + "start_angle_index": 0, + "end_angle_index": 15, + "trajectory_radius": 0.6354, + "trajectory_length": 0.36821, + "arc_length": 0.2946, + "straight_length": 0.07361, "poses": [ [ 0.0, - -0.0, - -0.03316065952958909 + 0.0, + 0.0 + ], + [ + 0.05884, + -0.00273, + -0.09272952180016114 ], [ - 0.05607, - 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"trajectoryId": 101, - "startAngle": -90.0, - "endAngle": -63.43494882292201, - "radius": 0.8472, - "trajectoryLength": 0.41640225434548295, - "arcLength": 0.39280225434548294, - "straightLength": 0.023599999999999982, + "trajectory_id": 76, + "start_angle_index": 15, + "end_angle_index": 15, + "trajectory_radius": 0.0, + "trajectory_length": 0.22361, + "arc_length": 0.0, + "straight_length": 0.22361, "poses": [ [ 0.0, - -0.0, - -1.5376356672653075 - ], - [ - 0.00186, - -0.05607, - -1.4715355769519873 - ], - [ - 0.00742, - -0.1119, - -1.405178839897782 - ], - [ - 0.01667, - -0.16724, - -1.3389605793090156 + 0.0, + -0.4636476090008061 ], [ - 0.02956, - -0.22184, - -1.272664314771342 + 0.06667, + -0.03333, + -0.4636476090008061 ], [ - 0.04604, - -0.27547, - -1.2064763007678847 + 0.13333, + -0.06667, + -0.4636476090008061 ], [ - 0.06603, - -0.32789, - -1.1403927062346335 + 0.2, + -0.1, + -0.4636476090008061 ] ] }, { - "trajectoryId": 102, - "startAngle": -90.0, - "endAngle": -180.0, - "radius": 0.5, - "trajectoryLength": 0.8353981633974483, - "arcLength": 0.7853981633974483, - "straightLength": 0.050000000000000044, + "trajectory_id": 77, + "start_angle_index": 15, + "end_angle_index": 0, + "trajectory_radius": 0.6354, + "trajectory_length": 0.36821, + "arc_length": 0.2946, + "straight_length": 0.07361, "poses": [ [ - -0.0, - -0.0, - -1.5707963267948966 + 0.0, + 0.0, + -0.4636476090008061 ], [ - -0.0, - -0.05, - -1.6231785206598657 + 0.06584, + -0.03292, + -0.4636476090008061 ], [ - -0.00274, - -0.10226, - -1.7279047239397773 + 0.06584, + -0.03292, + -0.46364760900080615 ], [ - -0.01093, - -0.15396, - -1.8325065331085577 + 0.11969, + -0.05679, + -0.370918087200645 ], [ - -0.02447, - -0.20451, - -1.9373940131831073 + 0.17551, + -0.07557, + -0.27818856540048387 ], [ - -0.04323, - -0.25337, - -2.0420493266703335 + 0.23283, + -0.0891, + -0.18545904360032228 ], [ - -0.06699, - -0.3, - -2.14671492641325 + 0.29116, + -0.09727, + -0.09272952180016114 ], [ - -0.09549, - -0.34389, - -2.2514448265027873 + 0.35, + -0.1, + 0.0 + ] + ] + }, + { + "trajectory_id": 78, + "start_angle_index": 15, + "end_angle_index": 1, + "trajectory_radius": 0.5031, + "trajectory_length": 0.46652, + "arc_length": 0.46652, + "straight_length": 0, + "poses": [ + [ + 1e-05, + 1e-05, + -0.46364760900080615 ], [ - -0.12843, - -0.38457, - -2.3561944901923453 + 0.05356, + -0.02299, + -0.3477357067506044 ], [ - -0.16543, - -0.42157, - -2.460944153881901 + 0.10941, + -0.03964, + -0.23182380450040307 ], [ - -0.20611, - -0.45451, - -2.5656740539714407 + 0.16682, + -0.04972, + -0.11591190225020132 ], [ - -0.25, - -0.48301, - -2.6703396537143553 + 0.225, + -0.0531, + 0.0 ], [ - -0.29663, - -0.50677, - -2.774994967201583 + 0.28318, + -0.04972, + 0.11591190225020132 ], [ - -0.34549, - -0.52553, - -2.8798824472761324 + 0.34059, + -0.03964, + 0.23182380450040307 ], [ - -0.39604, - -0.53907, - -2.984484256444914 + 0.39644, + -0.02299, + 0.3477357067506044 ], [ - -0.44774, - -0.54726, - -3.0892104597248227 + 0.44999, + 1e-05, + 0.46364760900080615 ] ] }, { - "trajectoryId": 103, - "startAngle": -90.0, - "endAngle": -0.0, - "radius": 0.5, - "trajectoryLength": 0.8353981633974483, - "arcLength": 0.7853981633974483, - "straightLength": 0.050000000000000044, + "trajectory_id": 79, + "start_angle_index": 15, + "end_angle_index": 1, + "trajectory_radius": 0.6149, + "trajectory_length": 0.57019, + "arc_length": 0.57019, + "straight_length": 0, "poses": [ [ - 0.0, - -0.0, - -1.5707963267948966 - ], - [ - 0.0, - -0.05, - -1.5184141329299277 - ], - [ - 0.00274, - -0.10226, - -1.4136879296500158 - ], - [ - 0.01093, - -0.15396, - -1.3090861204812356 - ], - [ - 0.02447, - -0.20451, - -1.2041986404066858 - ], - [ - 0.04323, - -0.25337, - -1.0995433269194599 + 1e-05, + 2e-05, + -0.46364760900080615 ], [ - 0.06699, - -0.3, - -0.9948777271765432 + 0.05212, + -0.02308, + -0.370918087200645 ], [ - 0.09549, - -0.34389, - -0.8901478270870059 + 0.10614, + -0.04126, + -0.27818856540048387 ], [ - 0.12843, - -0.38457, - -0.785398163397448 + 0.16161, + -0.05436, + -0.18545904360032228 ], [ - 0.16543, - -0.42157, - -0.680648499707892 + 0.21806, + -0.06226, + -0.09272952180016114 ], [ - 0.20611, - -0.45451, - -0.5759185996183525 + 0.275, + -0.0649, + 0.0 ], [ - 0.25, - -0.48301, - -0.47125299987543784 + 0.33194, + -0.06226, + 0.09272952180016114 ], [ - 0.29663, - -0.50677, - -0.3665976863882106 + 0.38839, + -0.05436, + 0.18545904360032228 ], [ - 0.34549, - -0.52553, - -0.261710206313661 + 0.44386, + -0.04126, + 0.27818856540048387 ], [ - 0.39604, - -0.53907, - -0.15710839714487923 + 0.49788, + -0.02308, + 0.370918087200645 ], [ - 0.44774, - -0.54726, - -0.05238219386497044 + 0.54999, + 2e-05, + 0.46364760900080615 ] ] } ] -} +} \ No newline at end of file diff --git a/nav2_smac_planner/test/test_nodehybrid.cpp b/nav2_smac_planner/test/test_nodehybrid.cpp index 9954a011ef..910d590e07 100644 --- a/nav2_smac_planner/test/test_nodehybrid.cpp +++ b/nav2_smac_planner/test/test_nodehybrid.cpp @@ -144,7 +144,6 @@ TEST(NodeHybridTest, test_node_debin_neighbors) nav2_smac_planner::NodeHybrid::initMotionModel( nav2_smac_planner::MotionModel::DUBIN, size_x, size_y, size_theta, info); - // test neighborhood computation EXPECT_EQ(nav2_smac_planner::NodeHybrid::motion_table.projections.size(), 3u); EXPECT_NEAR(nav2_smac_planner::NodeHybrid::motion_table.projections[0]._x, 1.731517, 0.01); diff --git a/nav2_smac_planner/test/test_nodelattice.cpp b/nav2_smac_planner/test/test_nodelattice.cpp index 2ec9083fec..81019e034d 100644 --- a/nav2_smac_planner/test/test_nodelattice.cpp +++ b/nav2_smac_planner/test/test_nodelattice.cpp @@ -1,4 +1,5 @@ // Copyright (c) 2021 Joshua Wallace +// Copyright (c) 2021 Samsung Research America // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,109 +13,210 @@ // See the License for the specific language governing permissions and // limitations under the License. Reserved. +#include +#include +#include +#include +#include #include "nav2_smac_planner/node_lattice.hpp" #include "gtest/gtest.h" #include "ament_index_cpp/get_package_share_directory.hpp" -#include using json = nlohmann::json; TEST(NodeLatticeTest, parser_test) { - std::string pkg_share_dir = ament_index_cpp::get_package_share_directory("nav2_smac_planner"); - std::string filePath = pkg_share_dir + "/output.json"; - std::ifstream myJsonFile(filePath); - - ASSERT_TRUE(myJsonFile.is_open()); - - json j; - myJsonFile >> j; - - nav2_smac_planner::LatticeMetadata metaData; - nav2_smac_planner::MotionPrimitive myPrimitive; - nav2_smac_planner::MotionPose pose; - - json jsonMetaData = j["latticeMetadata"]; - json jsonPrimatives = j["primitives"]; - json jsonPose = jsonPrimatives[0]["poses"][0]; - - nav2_smac_planner::fromJsonToMetaData(jsonMetaData, metaData); - - //Checks for parsing meta data - EXPECT_NEAR(metaData.min_turning_radius, 0.4, 0.001); - EXPECT_NEAR(metaData.primitive_resolution, 0.005, 0.0001); - EXPECT_NEAR(metaData.grid_resolution, 0.05, 0.001); - EXPECT_NEAR(metaData.max_length, 1, 0.01); - EXPECT_NEAR(metaData.number_of_headings, 16, 0.01); - EXPECT_EQ(metaData.output_file, "output.json"); - EXPECT_NEAR(metaData.heading_angles[0], -180.0, 0.01); - - std::vector myPrimitives; - for(unsigned int i = 0; i < jsonPrimatives.size() ; ++i) - { - nav2_smac_planner::MotionPrimitive newPrimative; - nav2_smac_planner::fromJsonToMotionPrimitive(jsonPrimatives[i], newPrimative ); - myPrimitives.push_back(newPrimative); - } - - //Checks for parsing primitives - EXPECT_NEAR(myPrimitives[0].trajectory_id, 0, 0.01); - EXPECT_NEAR(myPrimitives[0].start_angle, 0.0,0.01); - EXPECT_NEAR(myPrimitives[0].end_angle, 0.0, 0.01); - EXPECT_NEAR(myPrimitives[0].turning_radius, 0.0, 0.01); - EXPECT_NEAR(myPrimitives[0].trajectory_length, 0.2, 0.01); - EXPECT_NEAR(myPrimitives[0].arc_length, 0.0, 0.01); - EXPECT_NEAR(myPrimitives[0].straight_length, 0.2, 0.01); - - EXPECT_NEAR(myPrimitives[0].poses[0]._x, 0.0, 0.01); - EXPECT_NEAR(myPrimitives[0].poses[0]._y, 0.0, 0.01); - EXPECT_NEAR(myPrimitives[0].poses[0]._theta, 0.0, 0.01); - - EXPECT_NEAR(myPrimitives[0].poses[1]._x, 0.06667, 0.01); - EXPECT_NEAR(myPrimitives[0].poses[1]._y, 0.0, 0.01); - EXPECT_NEAR(myPrimitives[0].poses[1]._theta, 0.0, 0.01); + std::string pkg_share_dir = ament_index_cpp::get_package_share_directory("nav2_smac_planner"); + std::string filePath = pkg_share_dir + "/output.json"; + std::ifstream myJsonFile(filePath); + + ASSERT_TRUE(myJsonFile.is_open()); + + json j; + myJsonFile >> j; + + nav2_smac_planner::LatticeMetadata metaData; + nav2_smac_planner::MotionPrimitive myPrimitive; + nav2_smac_planner::MotionPose pose; + + json jsonMetaData = j["lattice_metadata"]; + json jsonPrimatives = j["primitives"]; + json jsonPose = jsonPrimatives[0]["poses"][0]; + + nav2_smac_planner::fromJsonToMetaData(jsonMetaData, metaData); + + // Checks for parsing meta data + EXPECT_NEAR(metaData.min_turning_radius, 0.5, 0.001); + EXPECT_NEAR(metaData.grid_resolution, 0.05, 0.001); + EXPECT_NEAR(metaData.number_of_headings, 16, 0.01); + EXPECT_EQ(metaData.output_file, "output.json"); + EXPECT_NEAR(metaData.heading_angles[0], 0.0, 0.01); + EXPECT_EQ(metaData.number_of_trajectories, 80u); + EXPECT_EQ(metaData.motion_model, std::string("ackermann")); + + std::vector myPrimitives; + for (unsigned int i = 0; i < jsonPrimatives.size(); ++i) { + nav2_smac_planner::MotionPrimitive newPrimative; + nav2_smac_planner::fromJsonToMotionPrimitive(jsonPrimatives[i], newPrimative); + myPrimitives.push_back(newPrimative); + } + + // Checks for parsing primitives + EXPECT_EQ(myPrimitives.size(), 80u); + EXPECT_NEAR(myPrimitives[0].trajectory_id, 0, 0.01); + EXPECT_NEAR(myPrimitives[0].start_angle, 0.0, 0.01); + EXPECT_NEAR(myPrimitives[0].end_angle, 13, 0.01); + EXPECT_NEAR(myPrimitives[0].turning_radius, 0.5259, 0.01); + EXPECT_NEAR(myPrimitives[0].trajectory_length, 0.64856, 0.01); + EXPECT_NEAR(myPrimitives[0].arc_length, 0.58225, 0.01); + EXPECT_NEAR(myPrimitives[0].straight_length, 0.06631, 0.01); + + EXPECT_NEAR(myPrimitives[0].poses[0]._x, 0.0, 0.01); + EXPECT_NEAR(myPrimitives[0].poses[0]._y, 0.0, 0.01); + EXPECT_NEAR(myPrimitives[0].poses[0]._theta, 0.0, 0.01); + + EXPECT_NEAR(myPrimitives[0].poses[1]._x, 0.05284, 0.01); + EXPECT_NEAR(myPrimitives[0].poses[1]._y, -0.00266, 0.01); + EXPECT_NEAR(myPrimitives[0].poses[1]._theta, -0.10064988343582648, 0.01); +} + +TEST(NodeLatticeTest, test_node_lattice_neighbors_and_parsing) +{ + std::string pkg_share_dir = ament_index_cpp::get_package_share_directory("nav2_smac_planner"); + std::string filePath = pkg_share_dir + "/output.json"; + + nav2_smac_planner::SearchInfo info; + info.minimum_turning_radius = 1.1; + info.non_straight_penalty = 1; + info.change_penalty = 1; + info.reverse_penalty = 1; + info.cost_penalty = 1; + info.analytic_expansion_ratio = 1; + info.lattice_filepath = filePath; + info.cache_obstacle_heuristic = true; + + unsigned int x = 100; + unsigned int y = 100; + unsigned int angle_quantization = 16; + + nav2_smac_planner::NodeLattice::initMotionModel( + nav2_smac_planner::MotionModel::STATE_LATTICE, x, y, angle_quantization, info); + + nav2_smac_planner::NodeLattice aNode(0); + aNode.setPose(nav2_smac_planner::NodeHybrid::Coordinates(0, 0, 0)); + nav2_smac_planner::MotionPrimitives projections = + nav2_smac_planner::NodeLattice::motion_table.getMotionPrimitives(&aNode); + + EXPECT_NEAR(projections[0].poses.back()._x, 0.5, 0.01); + EXPECT_NEAR(projections[0].poses.back()._y, -0.35, 0.01); + EXPECT_NEAR(projections[0].poses.back()._theta, -1.107, 0.01); + + EXPECT_NEAR( + nav2_smac_planner::NodeLattice::motion_table.getLatticeMetadata( + filePath).grid_resolution, 0.05, 0.005); } -TEST(NodeLatticeTest, test_node_lattice_neighbors) +TEST(NodeLatticeTest, test_node_lattice_conversions) { - std::string pkg_share_dir = ament_index_cpp::get_package_share_directory("nav2_smac_planner"); - std::string filePath = pkg_share_dir + "/output.json"; - - nav2_smac_planner::SearchInfo info; - info.minimum_turning_radius = 1.1; - info.non_straight_penalty = 1; - info.change_penalty = 1; - info.reverse_penalty = 1; - info.cost_penalty = 1; - info.analytic_expansion_ratio = 1; - info.lattice_filepath = filePath; - info.cache_obstacle_heuristic = true; - - unsigned int x = 100; - unsigned int y = 100; - unsigned int angle_quantization = 16; - - nav2_smac_planner::NodeLattice::initMotionModel(nav2_smac_planner::MotionModel::STATE_LATTICE, - x, - y, - angle_quantization, - info); - - nav2_smac_planner::NodeLattice aNode(0); - aNode.setPose( nav2_smac_planner::NodeHybrid::Coordinates(0, 0, 0) ); - nav2_smac_planner::MotionPrimitives projections = nav2_smac_planner::NodeLattice::motion_table.getMotionPrimitives(&aNode); - - // TODO meaning of returns have changed - // EXPECT_NEAR(projections[0]._x, 0.13333, 0.01); - // EXPECT_NEAR(projections[0]._y, 0.0, 0.01); - // EXPECT_NEAR(projections[0]._theta, 0.0, 0.01); - - aNode.setPose(nav2_smac_planner::NodeHybrid::Coordinates(0, 0, 1)); - - projections = nav2_smac_planner::NodeLattice::motion_table.getMotionPrimitives(&aNode); - - // TODO meaning of returns have changed - // EXPECT_NEAR(projections[0]._x, -0.13333, 0.01); - // EXPECT_NEAR(projections[0]._y, 0.0, 0.01); - // EXPECT_NEAR(projections[0]._theta, 3.14, 0.01); -} \ No newline at end of file + std::string pkg_share_dir = ament_index_cpp::get_package_share_directory("nav2_smac_planner"); + std::string filePath = pkg_share_dir + "/output.json"; + + nav2_smac_planner::SearchInfo info; + info.minimum_turning_radius = 1.1; + info.non_straight_penalty = 1; + info.change_penalty = 1; + info.reverse_penalty = 1; + info.cost_penalty = 1; + info.analytic_expansion_ratio = 1; + info.lattice_filepath = filePath; + info.cache_obstacle_heuristic = true; + + unsigned int x = 100; + unsigned int y = 100; + unsigned int angle_quantization = 16; + + nav2_smac_planner::NodeLattice::initMotionModel( + nav2_smac_planner::MotionModel::STATE_LATTICE, x, y, angle_quantization, info); + + nav2_smac_planner::NodeLattice aNode(0); + aNode.setPose(nav2_smac_planner::NodeHybrid::Coordinates(0, 0, 0)); + + EXPECT_NEAR(aNode.motion_table.getAngleFromBin(0u), 0.0, 0.005); + EXPECT_NEAR(aNode.motion_table.getAngleFromBin(1u), 0.46364, 0.005); + EXPECT_NEAR(aNode.motion_table.getAngleFromBin(2u), 0.78539, 0.005); + + EXPECT_EQ(aNode.motion_table.getClosestAngularBin(0.0), 0u); + EXPECT_EQ(aNode.motion_table.getClosestAngularBin(0.5), 1u); + EXPECT_EQ(aNode.motion_table.getClosestAngularBin(1.5), 4u); +} + +TEST(NodeLatticeTest, test_node_lattice) +{ + std::string pkg_share_dir = ament_index_cpp::get_package_share_directory("nav2_smac_planner"); + std::string filePath = pkg_share_dir + "/output.json"; + + nav2_smac_planner::SearchInfo info; + info.minimum_turning_radius = 1.1; + info.non_straight_penalty = 1; + info.change_penalty = 1; + info.reverse_penalty = 1; + info.cost_penalty = 1; + info.analytic_expansion_ratio = 1; + info.lattice_filepath = filePath; + info.cache_obstacle_heuristic = true; + + unsigned int x = 100; + unsigned int y = 100; + unsigned int angle_quantization = 16; + + nav2_smac_planner::NodeLattice::initMotionModel( + nav2_smac_planner::MotionModel::STATE_LATTICE, x, y, angle_quantization, info); + + // Check defaults + nav2_smac_planner::NodeLattice aNode(0); + nav2_smac_planner::NodeLattice testA(49); + EXPECT_EQ(testA.getIndex(), 49u); + EXPECT_EQ(testA.getAccumulatedCost(), std::numeric_limits::max()); + EXPECT_TRUE(std::isnan(testA.getCost())); + EXPECT_EQ(testA.getMotionPrimitive(), nullptr); + + // Test visited state / reset + EXPECT_EQ(testA.wasVisited(), false); + testA.visited(); + EXPECT_EQ(testA.wasVisited(), true); + testA.reset(); + EXPECT_EQ(testA.wasVisited(), false); + + nav2_costmap_2d::Costmap2D * costmapA = new nav2_costmap_2d::Costmap2D( + 10, 10, 0.05, 0.0, 0.0, 0); + std::unique_ptr checker = + std::make_unique(costmapA, 72); + checker->setFootprint(nav2_costmap_2d::Footprint(), true, 0.0); + + // test node valid and cost + testA.pose.x = 5; + testA.pose.y = 5; + testA.pose.theta = 0; + EXPECT_EQ(testA.isNodeValid(true, checker.get()), true); + EXPECT_EQ(testA.isNodeValid(false, checker.get()), true); + EXPECT_EQ(testA.getCost(), 0.0f); + + // check collision checking + EXPECT_EQ(testA.isNodeValid(false, checker.get()), true); + + // check operator== works on index + nav2_smac_planner::NodeLattice testC(49); + EXPECT_TRUE(testA == testC); + + // check accumulated costs are set + testC.setAccumulatedCost(100); + EXPECT_EQ(testC.getAccumulatedCost(), 100.0f); + + // check set pose and pose + testC.setPose(nav2_smac_planner::NodeLattice::Coordinates(10.0, 5.0, 4)); + EXPECT_EQ(testC.pose.x, 10.0); + EXPECT_EQ(testC.pose.y, 5.0); + EXPECT_EQ(testC.pose.theta, 4); + + delete costmapA; +} From 79f8f00181010b1e9f33a35c87fb921b3d092aaa Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Mon, 18 Oct 2021 15:07:04 -0700 Subject: [PATCH 09/31] adding updated rosdep key --- nav2_smac_planner/README.md | 20 ++++++++++++-------- nav2_smac_planner/package.xml | 2 +- 2 files changed, 13 insertions(+), 9 deletions(-) diff --git a/nav2_smac_planner/README.md b/nav2_smac_planner/README.md index 2fbc5b7420..fb51ea275c 100644 --- a/nav2_smac_planner/README.md +++ b/nav2_smac_planner/README.md @@ -14,24 +14,27 @@ It also introduces the following basic building blocks: We have users reporting using this on: - Delivery robots - Industrial robots +- Vertical farming ## Introduction -The `nav2_smac_planner` package contains an optimized templated A* search algorithm used to create multiple A\*-based planners for multiple types of robot platforms. It was built by [Steve Macenski](https://www.linkedin.com/in/steve-macenski-41a985101/) while at [Samsung Research](https://www.sra.samsung.com/). We support **circular** differential-drive and omni-directional drive robots using the `SmacPlanner2D` planner which implements a cost-aware A\* planner. We support **cars, car-like, and ackermann vehicles** using the `SmacPlannerHybrid` plugin which implements a Hybrid-A\* planner. We support **non-circular, arbitrary shaped** differntial drive and omnidirectional vehicles using the `SmacPlannerLattice` plugin which implements a State Lattice planner. These plugins are also useful for curvature constrained planning, like when planning robot at high speeds to make sure they don't flip over or otherwise skid out of control. It is also applicable to non-round robots (such as large rectangular or arbitrary shaped robots of differential/omnidirectional drivetrains) that need pose-based collision checking. +The `nav2_smac_planner` package contains an optimized templated A* search algorithm used to create multiple A\*-based planners for multiple types of robot platforms. It was built by [Steve Macenski](https://www.linkedin.com/in/steve-macenski-41a985101/) while at [Samsung Research](https://www.sra.samsung.com/). We support **circular** differential-drive and omni-directional drive robots using the `SmacPlanner2D` planner which implements a cost-aware A\* planner. We support **legged, cars, car-like, and ackermann vehicles** using the `SmacPlannerHybrid` plugin which implements a Hybrid-A\* planner. We support **non-circular, arbitrary shaped, any model vehicles** using the `SmacPlannerLattice` plugin which implements a State Lattice planner. It contains control sets and generators for ackermann, legged, differential drive and omnidirectional vehicles, but you may provide your own for another robot type or to have different planning behaviors. The last two plugins are also useful for curvature constrained planning, like when planning robot at high speeds to make sure they don't flip over or otherwise skid out of control. It is also applicable to non-round robots (such as large rectangular or arbitrary shaped robots of differential/omnidirectional drivetrains) that need pose-based collision checking. The `SmacPlannerHybrid` implements the Hybrid-A* planner as proposed in [Practical Search Techniques in Path Planning for Autonomous Driving](https://ai.stanford.edu/~ddolgov/papers/dolgov_gpp_stair08.pdf), including hybrid searching, gradient descent smoothing, analytic expansions and hueristic functions. -The `SmacPlannerLattice` fully-implements the State Lattice planner with smoothing. While we do not implement it precisely the same way as [Optimal, Smooth, Nonholonomic MobileRobot Motion Planning in State Lattices](https://www.ri.cmu.edu/pub_files/pub4/pivtoraiko_mihail_2007_1/pivtoraiko_mihail_2007_1.pdf) (with control sets found using [Generating Near Minimal Spanning Control Sets for Constrained Motion Planning in Discrete State Spaces](https://www.ri.cmu.edu/pub_files/pub4/pivtoraiko_mihail_2005_1/pivtoraiko_mihail_2005_1.pdf)), it is sufficiently similar it may be used as a good reference. Additional optimizations for on-approach analytic expansions and simplier heuristic functions were used, largely matching those of Hybrid-A\*. +The `SmacPlannerLattice` implements the State Lattice planner with smoothing. While we do not implement it precisely the same way as [Optimal, Smooth, Nonholonomic MobileRobot Motion Planning in State Lattices](https://www.ri.cmu.edu/pub_files/pub4/pivtoraiko_mihail_2007_1/pivtoraiko_mihail_2007_1.pdf) (with control sets found using [Generating Near Minimal Spanning Control Sets for Constrained Motion Planning in Discrete State Spaces](https://www.ri.cmu.edu/pub_files/pub4/pivtoraiko_mihail_2005_1/pivtoraiko_mihail_2005_1.pdf)), it is sufficiently similar it may be used as a good reference. Additional optimizations for on-approach analytic expansions and simplier heuristic functions were used, largely matching those of Hybrid-A\*. In summary... The `SmacPlannerHybrid` is designed to work with: - Ackermann, car, and car-like robots - High speed or curvature constrained robots (as to not flip over, skid, or dump load at high speeds) -- Arbitrary shaped, non-circular differential or omnidirectional robots requiring SE2 collision checking with constrained curvatures +- Arbitrary shaped, non-circular differential or omnidirectional robots requiring kinematically feasible planning with SE2 collision checking +- Legged robots The `SmacPlannerLattice` is designed to work with: -- Arbitrary shaped, non-circular differential or omnidirectional robots requiring SE2 collision checking using the full capabilities of the drivetrain +- Arbitrary shaped, non-circular robots requiring kinematically feasible planning with SE2 collision checking using the full capabilities of the drivetrain +- Flexibility to use other robot model types or with provided non-circular differental, ackermann, and omni support The `SmacPlanner2D` is designed to work with: - Circular, differential or omnidirectional robots @@ -39,13 +42,13 @@ The `SmacPlanner2D` is designed to work with: ## Features -We further improve in the following ways: +We further improve on Hybrid-A\* in the following ways: - Remove need for upsampling by searching with 10x smaller motion primitives (same as their upsampling ratio). - Multi-resolution search allowing planning to occur at a coarser resolution for wider spaces (O(N^2) faster). - Cost-aware penalty functions in search resulting in far smoother plans (further reducing requirement to smooth). -- Gradient descent smoother +- Gradient-descent, basic but fast smoother - Faster planning than original paper by highly optimizing the template A\* algorithm. -- Faster planning via precomputed heuristic, motion primitive, and other values. +- Faster planning via custom precomputed heuristic, motion primitive, and other values. - Automatically adjusted search motion model sizes by motion model, costmap resolution, and bin sizing. - Closest path on approach within tolerance if exact path cannot be found or in invalid space. - Multi-model hybrid searching including Dubin and Reeds-Shepp models. More models may be trivially added. @@ -111,7 +114,8 @@ planner_server: non_straight_penalty: 1.50 # For Hybrid nodes: penalty to apply if motion is non-straight, must be => 1 cost_penalty: 1.7 # For Hybrid nodes: penalty to apply to higher cost areas when adding into the obstacle map dynamic programming distance expansion heuristic. This drives the robot more towards the center of passages. A value between 1.3 - 3.5 is reasonable. lookup_table_size: 20 # For Hybrid nodes: Size of the dubin/reeds-sheep distance window to cache, in meters. - cache_obstacle_heuristic: True # For Hybrid nodes: Cache the obstacle map dynamic programming distance expansion heuristic between subsiquent replannings of the same goal location. Dramatically speeds up replanning performance (40x) if costmap is largely static. + cache_obstacle_heuristic: True # For Hybrid nodes: Cache the obstacle map dynamic programming distance expansion heuristic between subsiquent replannings of the same goal location. Dramatically speeds up replanning performance (40x) if costmap is largely static. + allow_reverse_expansion: False # For Lattice nodes: Whether to expand state lattice graph in forward primitives or reverse as well, will double the branching factor at each step. smoother: max_iterations: 1000 w_smooth: 0.3 diff --git a/nav2_smac_planner/package.xml b/nav2_smac_planner/package.xml index c7bf1261ec..2f1091f4dc 100644 --- a/nav2_smac_planner/package.xml +++ b/nav2_smac_planner/package.xml @@ -26,7 +26,7 @@ eigen3_cmake_module eigen ompl - nlohmann_json + nlohmann-json-dev ament_lint_common ament_lint_auto From 6425699b40f9121c4f17648f71bb527f7edbb76f Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Mon, 25 Oct 2021 16:56:30 -0700 Subject: [PATCH 10/31] compiling, generating paths (though bogus) --- .../include/nav2_smac_planner/types.hpp | 1 - .../include/nav2_smac_planner/utils.hpp | 1 - nav2_smac_planner/src/node_lattice.cpp | 3 +- nav2_smac_planner/src/smac_planner_2d.cpp | 2 + nav2_smac_planner/src/smac_planner_hybrid.cpp | 2 + .../src/smac_planner_lattice.cpp | 16 ++- nav2_smac_planner/test/output.json | 97 +++++++++++++++++-- nav2_smac_planner/test/test_nodelattice.cpp | 1 - 8 files changed, 109 insertions(+), 14 deletions(-) diff --git a/nav2_smac_planner/include/nav2_smac_planner/types.hpp b/nav2_smac_planner/include/nav2_smac_planner/types.hpp index 89fcffcc74..927f3934a1 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/types.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/types.hpp @@ -130,7 +130,6 @@ struct LatticeMetadata float min_turning_radius; float grid_resolution; unsigned int number_of_headings; - std::string output_file; std::vector heading_angles; unsigned int number_of_trajectories; std::string motion_model; diff --git a/nav2_smac_planner/include/nav2_smac_planner/utils.hpp b/nav2_smac_planner/include/nav2_smac_planner/utils.hpp index e9d1f685a7..68a618ee79 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/utils.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/utils.hpp @@ -113,7 +113,6 @@ inline void fromJsonToMetaData(const nlohmann::json & json, LatticeMetadata & la json.at("turning_radius").get_to(lattice_metadata.min_turning_radius); json.at("grid_resolution").get_to(lattice_metadata.grid_resolution); json.at("num_of_headings").get_to(lattice_metadata.number_of_headings); - json.at("output_file").get_to(lattice_metadata.output_file); json.at("heading_angles").get_to(lattice_metadata.heading_angles); json.at("number_of_trajectories").get_to(lattice_metadata.number_of_trajectories); json.at("motion_model").get_to(lattice_metadata.motion_model); diff --git a/nav2_smac_planner/src/node_lattice.cpp b/nav2_smac_planner/src/node_lattice.cpp index 5b1918057f..a6714ae67a 100644 --- a/nav2_smac_planner/src/node_lattice.cpp +++ b/nav2_smac_planner/src/node_lattice.cpp @@ -237,7 +237,7 @@ bool NodeLattice::isNodeValid( // Convert primitive pose into grid space if it should be checked prim_pose._x = initial_pose._x + (it->_x / grid_resolution); prim_pose._y = initial_pose._y + (it->_y / grid_resolution); - prim_pose._theta = initial_pose._theta + it->_theta; /*rad*/ + prim_pose._theta = it->_theta; /*rad*/ // TODO initial_pose._theta + if (prim_pose._theta < 0.0) { prim_pose._theta += 2.0 * M_PI; } @@ -424,6 +424,7 @@ void NodeLattice::precomputeDistanceHeuristic( motion_table.state_space = std::make_unique( search_info.minimum_turning_radius); } + motion_table.lattice_metadata = LatticeMotionTable::getLatticeMetadata(search_info.lattice_filepath); ompl::base::ScopedState<> from(motion_table.state_space), to(motion_table.state_space); to[0] = 0.0; diff --git a/nav2_smac_planner/src/smac_planner_2d.cpp b/nav2_smac_planner/src/smac_planner_2d.cpp index 5e089e5969..db4d85fed0 100644 --- a/nav2_smac_planner/src/smac_planner_2d.cpp +++ b/nav2_smac_planner/src/smac_planner_2d.cpp @@ -58,6 +58,8 @@ void SmacPlanner2D::configure( _name = name; _global_frame = costmap_ros->getGlobalFrameID(); + RCLCPP_INFO(_logger, "Configuring %s of type SmacPlanner2D", name.c_str()); + // General planner params nav2_util::declare_parameter_if_not_declared( node, name + ".tolerance", rclcpp::ParameterValue(0.125)); diff --git a/nav2_smac_planner/src/smac_planner_hybrid.cpp b/nav2_smac_planner/src/smac_planner_hybrid.cpp index 660248bb20..9565049cd5 100644 --- a/nav2_smac_planner/src/smac_planner_hybrid.cpp +++ b/nav2_smac_planner/src/smac_planner_hybrid.cpp @@ -60,6 +60,8 @@ void SmacPlannerHybrid::configure( _name = name; _global_frame = costmap_ros->getGlobalFrameID(); + RCLCPP_INFO(_logger, "Configuring %s of type SmacPlannerHybrid", name.c_str()); + int angle_quantizations; // General planner params diff --git a/nav2_smac_planner/src/smac_planner_lattice.cpp b/nav2_smac_planner/src/smac_planner_lattice.cpp index e6f3502b98..f2716ac603 100644 --- a/nav2_smac_planner/src/smac_planner_lattice.cpp +++ b/nav2_smac_planner/src/smac_planner_lattice.cpp @@ -56,9 +56,11 @@ void SmacPlannerLattice::configure( _name = name; _global_frame = costmap_ros->getGlobalFrameID(); + RCLCPP_INFO(_logger, "Configuring %s of type SmacPlannerLattice", name.c_str()); + bool allow_unknown; int max_iterations; - int lookup_table_size; + double lookup_table_size; SearchInfo search_info; // General planner params @@ -122,6 +124,18 @@ void SmacPlannerLattice::configure( static_cast(lookup_table_size) / static_cast(_costmap->getResolution() * _downsampling_factor); + // Make sure its a whole number + lookup_table_dim = static_cast(static_cast(lookup_table_dim)); + + // Make sure its an odd number + if (static_cast(lookup_table_dim) % 2 == 0) { + RCLCPP_INFO( + _logger, + "Even sized heuristic lookup table size set %f, increasing size by 1 to make odd", + lookup_table_dim); + lookup_table_dim += 1.0; + } + // Initialize collision checker using 72 evenly sized bins instead of the lattice // heading angles. This is done so that we have precomputed angles every 5 degrees. // If we used the sparse lattice headings (usually 16), then when we attempt to collision diff --git a/nav2_smac_planner/test/output.json b/nav2_smac_planner/test/output.json index 07e1bfb1a4..25f46ac3d1 100644 --- a/nav2_smac_planner/test/output.json +++ b/nav2_smac_planner/test/output.json @@ -1,13 +1,12 @@ { "version": 1.0, - "date_generated": "2021-10-14", + "date_generated": "2021-10-24", "lattice_metadata": { "motion_model": "ackermann", "turning_radius": 0.5, "grid_resolution": 0.05, "stopping_threshold": 5, "num_of_headings": 16, - "output_file": "output.json", "heading_angles": [ 0.0, 0.4636476090008061, @@ -18,13 +17,13 @@ 2.356194490192345, 2.677945044588987, 3.141592653589793, - -2.677945044588987, - -2.356194490192345, - -2.0344439357957027, - -1.5707963267948966, - -1.1071487177940904, - -0.7853981633974483, - -0.4636476090008061 + 3.6052402625905993, + 3.9269908169872414, + 4.2487413713838835, + 4.71238898038469, + 5.176036589385496, + 5.497787143782138, + 5.81953769817878 ], "number_of_trajectories": 80 }, @@ -33,6 +32,7 @@ "trajectory_id": 0, "start_angle_index": 0, "end_angle_index": 13, + "left_turn": false, "trajectory_radius": 0.5259, "trajectory_length": 0.64856, "arc_length": 0.58225, @@ -114,6 +114,7 @@ "trajectory_id": 1, "start_angle_index": 0, "end_angle_index": 15, + "left_turn": false, "trajectory_radius": 0.6354, "trajectory_length": 0.36821, "arc_length": 0.2946, @@ -165,6 +166,7 @@ "trajectory_id": 2, "start_angle_index": 0, "end_angle_index": 0, + "left_turn": true, "trajectory_radius": 0.0, "trajectory_length": 0.15, "arc_length": 0.0, @@ -191,6 +193,7 @@ "trajectory_id": 3, "start_angle_index": 0, "end_angle_index": 1, + "left_turn": true, "trajectory_radius": 0.6354, "trajectory_length": 0.36821, "arc_length": 0.2946, @@ -242,6 +245,7 @@ "trajectory_id": 4, "start_angle_index": 0, "end_angle_index": 3, + "left_turn": true, "trajectory_radius": 0.5259, "trajectory_length": 0.64856, "arc_length": 0.58225, @@ -323,6 +327,7 @@ "trajectory_id": 5, "start_angle_index": 1, "end_angle_index": 15, + "left_turn": false, "trajectory_radius": 0.5031, "trajectory_length": 0.46652, "arc_length": 0.46652, @@ -379,6 +384,7 @@ "trajectory_id": 6, "start_angle_index": 1, "end_angle_index": 15, + "left_turn": false, "trajectory_radius": 0.6149, "trajectory_length": 0.57019, "arc_length": 0.57019, @@ -445,6 +451,7 @@ "trajectory_id": 7, "start_angle_index": 1, "end_angle_index": 0, + "left_turn": false, "trajectory_radius": 0.6354, "trajectory_length": 0.36821, "arc_length": 0.2946, @@ -496,6 +503,7 @@ "trajectory_id": 8, "start_angle_index": 1, "end_angle_index": 1, + "left_turn": true, "trajectory_radius": 0.0, "trajectory_length": 0.22361, "arc_length": 0.0, @@ -527,6 +535,7 @@ "trajectory_id": 9, "start_angle_index": 1, "end_angle_index": 2, + "left_turn": true, "trajectory_radius": 0.689, "trajectory_length": 0.25131, "arc_length": 0.22169, @@ -568,6 +577,7 @@ "trajectory_id": 10, "start_angle_index": 2, "end_angle_index": 0, + "left_turn": false, "trajectory_radius": 0.5121, "trajectory_length": 0.44007, "arc_length": 0.4022, @@ -629,6 +639,7 @@ "trajectory_id": 11, "start_angle_index": 2, "end_angle_index": 1, + "left_turn": false, "trajectory_radius": 0.689, "trajectory_length": 0.25131, "arc_length": 0.22169, @@ -670,6 +681,7 @@ "trajectory_id": 12, "start_angle_index": 2, "end_angle_index": 2, + "left_turn": true, "trajectory_radius": 0.0, "trajectory_length": 0.21213, "arc_length": 0.0, @@ -701,6 +713,7 @@ "trajectory_id": 13, "start_angle_index": 2, "end_angle_index": 3, + "left_turn": true, "trajectory_radius": 0.689, "trajectory_length": 0.25131, "arc_length": 0.22169, @@ -742,6 +755,7 @@ "trajectory_id": 14, "start_angle_index": 2, "end_angle_index": 4, + "left_turn": true, "trajectory_radius": 0.5121, "trajectory_length": 0.44007, "arc_length": 0.4022, @@ -803,6 +817,7 @@ "trajectory_id": 15, "start_angle_index": 3, "end_angle_index": 2, + "left_turn": false, "trajectory_radius": 0.689, "trajectory_length": 0.25131, "arc_length": 0.22169, @@ -844,6 +859,7 @@ "trajectory_id": 16, "start_angle_index": 3, "end_angle_index": 3, + "left_turn": true, "trajectory_radius": 0.0, "trajectory_length": 0.22361, "arc_length": 0.0, @@ -875,6 +891,7 @@ "trajectory_id": 17, "start_angle_index": 3, "end_angle_index": 4, + "left_turn": true, "trajectory_radius": 0.6354, "trajectory_length": 0.36821, "arc_length": 0.2946, @@ -926,6 +943,7 @@ "trajectory_id": 18, "start_angle_index": 3, "end_angle_index": 5, + "left_turn": true, "trajectory_radius": 0.5031, "trajectory_length": 0.46652, "arc_length": 0.46652, @@ -982,6 +1000,7 @@ "trajectory_id": 19, "start_angle_index": 3, "end_angle_index": 5, + "left_turn": true, "trajectory_radius": 0.6149, "trajectory_length": 0.57019, "arc_length": 0.57019, @@ -1048,6 +1067,7 @@ "trajectory_id": 20, "start_angle_index": 4, "end_angle_index": 1, + "left_turn": false, "trajectory_radius": 0.5259, "trajectory_length": 0.64856, "arc_length": 0.58225, @@ -1129,6 +1149,7 @@ "trajectory_id": 21, "start_angle_index": 4, "end_angle_index": 3, + "left_turn": false, "trajectory_radius": 0.6354, "trajectory_length": 0.36821, "arc_length": 0.2946, @@ -1180,6 +1201,7 @@ "trajectory_id": 22, "start_angle_index": 4, "end_angle_index": 4, + "left_turn": true, "trajectory_radius": 0.0, "trajectory_length": 0.15, "arc_length": 0.0, @@ -1206,6 +1228,7 @@ "trajectory_id": 23, "start_angle_index": 4, "end_angle_index": 5, + "left_turn": true, "trajectory_radius": 0.6354, "trajectory_length": 0.36821, "arc_length": 0.2946, @@ -1257,6 +1280,7 @@ "trajectory_id": 24, "start_angle_index": 4, "end_angle_index": 7, + "left_turn": true, "trajectory_radius": 0.5259, "trajectory_length": 0.64856, "arc_length": 0.58225, @@ -1338,6 +1362,7 @@ "trajectory_id": 25, "start_angle_index": 5, "end_angle_index": 3, + "left_turn": false, "trajectory_radius": 0.5031, "trajectory_length": 0.46652, "arc_length": 0.46652, @@ -1394,6 +1419,7 @@ "trajectory_id": 26, "start_angle_index": 5, "end_angle_index": 3, + "left_turn": false, "trajectory_radius": 0.6149, "trajectory_length": 0.57019, "arc_length": 0.57019, @@ -1460,6 +1486,7 @@ "trajectory_id": 27, "start_angle_index": 5, "end_angle_index": 4, + "left_turn": false, "trajectory_radius": 0.6354, "trajectory_length": 0.36821, "arc_length": 0.2946, @@ -1511,6 +1538,7 @@ "trajectory_id": 28, "start_angle_index": 5, "end_angle_index": 5, + "left_turn": true, "trajectory_radius": 0.0, "trajectory_length": 0.22361, "arc_length": 0.0, @@ -1542,6 +1570,7 @@ "trajectory_id": 29, "start_angle_index": 5, "end_angle_index": 6, + "left_turn": true, "trajectory_radius": 0.689, "trajectory_length": 0.25131, "arc_length": 0.22169, @@ -1583,6 +1612,7 @@ "trajectory_id": 30, "start_angle_index": 6, "end_angle_index": 4, + "left_turn": false, "trajectory_radius": 0.5121, "trajectory_length": 0.44007, "arc_length": 0.4022, @@ -1644,6 +1674,7 @@ "trajectory_id": 31, "start_angle_index": 6, "end_angle_index": 5, + "left_turn": false, "trajectory_radius": 0.689, "trajectory_length": 0.25131, "arc_length": 0.22169, @@ -1685,6 +1716,7 @@ "trajectory_id": 32, "start_angle_index": 6, "end_angle_index": 6, + "left_turn": true, "trajectory_radius": 0.0, "trajectory_length": 0.21213, "arc_length": 0.0, @@ -1716,6 +1748,7 @@ "trajectory_id": 33, "start_angle_index": 6, "end_angle_index": 7, + "left_turn": true, "trajectory_radius": 0.689, "trajectory_length": 0.25131, "arc_length": 0.22169, @@ -1757,6 +1790,7 @@ "trajectory_id": 34, "start_angle_index": 6, "end_angle_index": 8, + "left_turn": true, "trajectory_radius": 0.5121, "trajectory_length": 0.44007, "arc_length": 0.4022, @@ -1818,6 +1852,7 @@ "trajectory_id": 35, "start_angle_index": 7, "end_angle_index": 9, + "left_turn": true, "trajectory_radius": 0.5031, "trajectory_length": 0.46652, "arc_length": 0.46652, @@ -1874,6 +1909,7 @@ "trajectory_id": 36, "start_angle_index": 7, "end_angle_index": 9, + "left_turn": true, "trajectory_radius": 0.6149, "trajectory_length": 0.57019, "arc_length": 0.57019, @@ -1940,6 +1976,7 @@ "trajectory_id": 37, "start_angle_index": 7, "end_angle_index": 6, + "left_turn": false, "trajectory_radius": 0.689, "trajectory_length": 0.25131, "arc_length": 0.22169, @@ -1981,6 +2018,7 @@ "trajectory_id": 38, "start_angle_index": 7, "end_angle_index": 7, + "left_turn": true, "trajectory_radius": 0.0, "trajectory_length": 0.22361, "arc_length": 0.0, @@ -2012,6 +2050,7 @@ "trajectory_id": 39, "start_angle_index": 7, "end_angle_index": 8, + "left_turn": true, "trajectory_radius": 0.6354, "trajectory_length": 0.36821, "arc_length": 0.2946, @@ -2063,6 +2102,7 @@ "trajectory_id": 40, "start_angle_index": 8, "end_angle_index": 9, + "left_turn": true, "trajectory_radius": 0.6354, "trajectory_length": 0.36821, "arc_length": 0.2946, @@ -2114,6 +2154,7 @@ "trajectory_id": 41, "start_angle_index": 8, "end_angle_index": 11, + "left_turn": true, "trajectory_radius": 0.5259, "trajectory_length": 0.64856, "arc_length": 0.58225, @@ -2195,6 +2236,7 @@ "trajectory_id": 42, "start_angle_index": 8, "end_angle_index": 5, + "left_turn": false, "trajectory_radius": 0.5259, "trajectory_length": 0.64856, "arc_length": 0.58225, @@ -2276,6 +2318,7 @@ "trajectory_id": 43, "start_angle_index": 8, "end_angle_index": 7, + "left_turn": false, "trajectory_radius": 0.6354, "trajectory_length": 0.36821, "arc_length": 0.2946, @@ -2327,6 +2370,7 @@ "trajectory_id": 44, "start_angle_index": 8, "end_angle_index": 8, + "left_turn": true, "trajectory_radius": 0.0, "trajectory_length": 0.15, "arc_length": 0.0, @@ -2353,6 +2397,7 @@ "trajectory_id": 45, "start_angle_index": 9, "end_angle_index": 9, + "left_turn": true, "trajectory_radius": 0.0, "trajectory_length": 0.22361, "arc_length": 0.0, @@ -2384,6 +2429,7 @@ "trajectory_id": 46, "start_angle_index": 9, "end_angle_index": 10, + "left_turn": true, "trajectory_radius": 0.689, "trajectory_length": 0.25131, "arc_length": 0.22169, @@ -2425,6 +2471,7 @@ "trajectory_id": 47, "start_angle_index": 9, "end_angle_index": 7, + "left_turn": false, "trajectory_radius": 0.5031, "trajectory_length": 0.46652, "arc_length": 0.46652, @@ -2481,6 +2528,7 @@ "trajectory_id": 48, "start_angle_index": 9, "end_angle_index": 7, + "left_turn": false, "trajectory_radius": 0.6149, "trajectory_length": 0.57019, "arc_length": 0.57019, @@ -2547,6 +2595,7 @@ "trajectory_id": 49, "start_angle_index": 9, "end_angle_index": 8, + "left_turn": false, "trajectory_radius": 0.6354, "trajectory_length": 0.36821, "arc_length": 0.2946, @@ -2598,6 +2647,7 @@ "trajectory_id": 50, "start_angle_index": 10, "end_angle_index": 9, + "left_turn": false, "trajectory_radius": 0.689, "trajectory_length": 0.25131, "arc_length": 0.22169, @@ -2639,6 +2689,7 @@ "trajectory_id": 51, "start_angle_index": 10, "end_angle_index": 10, + "left_turn": true, "trajectory_radius": 0.0, "trajectory_length": 0.21213, "arc_length": 0.0, @@ -2670,6 +2721,7 @@ "trajectory_id": 52, "start_angle_index": 10, "end_angle_index": 11, + "left_turn": true, "trajectory_radius": 0.689, "trajectory_length": 0.25131, "arc_length": 0.22169, @@ -2711,6 +2763,7 @@ "trajectory_id": 53, "start_angle_index": 10, "end_angle_index": 12, + "left_turn": true, "trajectory_radius": 0.5121, "trajectory_length": 0.44007, "arc_length": 0.4022, @@ -2772,6 +2825,7 @@ "trajectory_id": 54, "start_angle_index": 10, "end_angle_index": 8, + "left_turn": false, "trajectory_radius": 0.5121, "trajectory_length": 0.44007, "arc_length": 0.4022, @@ -2833,6 +2887,7 @@ "trajectory_id": 55, "start_angle_index": 11, "end_angle_index": 10, + "left_turn": false, "trajectory_radius": 0.689, "trajectory_length": 0.25131, "arc_length": 0.22169, @@ -2874,6 +2929,7 @@ "trajectory_id": 56, "start_angle_index": 11, "end_angle_index": 11, + "left_turn": true, "trajectory_radius": 0.0, "trajectory_length": 0.22361, "arc_length": 0.0, @@ -2905,6 +2961,7 @@ "trajectory_id": 57, "start_angle_index": 11, "end_angle_index": 12, + "left_turn": true, "trajectory_radius": 0.6354, "trajectory_length": 0.36821, "arc_length": 0.2946, @@ -2956,6 +3013,7 @@ "trajectory_id": 58, "start_angle_index": 11, "end_angle_index": 13, + "left_turn": true, "trajectory_radius": 0.5031, "trajectory_length": 0.46652, "arc_length": 0.46652, @@ -3012,6 +3070,7 @@ "trajectory_id": 59, "start_angle_index": 11, "end_angle_index": 13, + "left_turn": true, "trajectory_radius": 0.6149, "trajectory_length": 0.57019, "arc_length": 0.57019, @@ -3078,6 +3137,7 @@ "trajectory_id": 60, "start_angle_index": 12, "end_angle_index": 9, + "left_turn": false, "trajectory_radius": 0.5259, "trajectory_length": 0.64856, "arc_length": 0.58225, @@ -3159,6 +3219,7 @@ "trajectory_id": 61, "start_angle_index": 12, "end_angle_index": 11, + "left_turn": false, "trajectory_radius": 0.6354, "trajectory_length": 0.36821, "arc_length": 0.2946, @@ -3210,6 +3271,7 @@ "trajectory_id": 62, "start_angle_index": 12, "end_angle_index": 12, + "left_turn": true, "trajectory_radius": 0.0, "trajectory_length": 0.15, "arc_length": 0.0, @@ -3236,6 +3298,7 @@ "trajectory_id": 63, "start_angle_index": 12, "end_angle_index": 13, + "left_turn": true, "trajectory_radius": 0.6354, "trajectory_length": 0.36821, "arc_length": 0.2946, @@ -3287,6 +3350,7 @@ "trajectory_id": 64, "start_angle_index": 12, "end_angle_index": 15, + "left_turn": true, "trajectory_radius": 0.5259, "trajectory_length": 0.64856, "arc_length": 0.58225, @@ -3368,6 +3432,7 @@ "trajectory_id": 65, "start_angle_index": 13, "end_angle_index": 11, + "left_turn": false, "trajectory_radius": 0.5031, "trajectory_length": 0.46652, "arc_length": 0.46652, @@ -3424,6 +3489,7 @@ "trajectory_id": 66, "start_angle_index": 13, "end_angle_index": 11, + "left_turn": false, "trajectory_radius": 0.6149, "trajectory_length": 0.57019, "arc_length": 0.57019, @@ -3490,6 +3556,7 @@ "trajectory_id": 67, "start_angle_index": 13, "end_angle_index": 12, + "left_turn": false, "trajectory_radius": 0.6354, "trajectory_length": 0.36821, "arc_length": 0.2946, @@ -3541,6 +3608,7 @@ "trajectory_id": 68, "start_angle_index": 13, "end_angle_index": 13, + "left_turn": true, "trajectory_radius": 0.0, "trajectory_length": 0.22361, "arc_length": 0.0, @@ -3572,6 +3640,7 @@ "trajectory_id": 69, "start_angle_index": 13, "end_angle_index": 14, + "left_turn": true, "trajectory_radius": 0.689, "trajectory_length": 0.25131, "arc_length": 0.22169, @@ -3613,6 +3682,7 @@ "trajectory_id": 70, "start_angle_index": 14, "end_angle_index": 12, + "left_turn": false, "trajectory_radius": 0.5121, "trajectory_length": 0.44007, "arc_length": 0.4022, @@ -3674,6 +3744,7 @@ "trajectory_id": 71, "start_angle_index": 14, "end_angle_index": 13, + "left_turn": false, "trajectory_radius": 0.689, "trajectory_length": 0.25131, "arc_length": 0.22169, @@ -3715,6 +3786,7 @@ "trajectory_id": 72, "start_angle_index": 14, "end_angle_index": 14, + "left_turn": true, "trajectory_radius": 0.0, "trajectory_length": 0.21213, "arc_length": 0.0, @@ -3746,6 +3818,7 @@ "trajectory_id": 73, "start_angle_index": 14, "end_angle_index": 15, + "left_turn": true, "trajectory_radius": 0.689, "trajectory_length": 0.25131, "arc_length": 0.22169, @@ -3787,6 +3860,7 @@ "trajectory_id": 74, "start_angle_index": 14, "end_angle_index": 0, + "left_turn": true, "trajectory_radius": 0.5121, "trajectory_length": 0.44007, "arc_length": 0.4022, @@ -3848,6 +3922,7 @@ "trajectory_id": 75, "start_angle_index": 15, "end_angle_index": 14, + "left_turn": false, "trajectory_radius": 0.689, "trajectory_length": 0.25131, "arc_length": 0.22169, @@ -3889,6 +3964,7 @@ "trajectory_id": 76, "start_angle_index": 15, "end_angle_index": 15, + "left_turn": true, "trajectory_radius": 0.0, "trajectory_length": 0.22361, "arc_length": 0.0, @@ -3920,6 +3996,7 @@ "trajectory_id": 77, "start_angle_index": 15, "end_angle_index": 0, + "left_turn": true, "trajectory_radius": 0.6354, "trajectory_length": 0.36821, "arc_length": 0.2946, @@ -3971,6 +4048,7 @@ "trajectory_id": 78, "start_angle_index": 15, "end_angle_index": 1, + "left_turn": true, "trajectory_radius": 0.5031, "trajectory_length": 0.46652, "arc_length": 0.46652, @@ -4027,6 +4105,7 @@ "trajectory_id": 79, "start_angle_index": 15, "end_angle_index": 1, + "left_turn": true, "trajectory_radius": 0.6149, "trajectory_length": 0.57019, "arc_length": 0.57019, diff --git a/nav2_smac_planner/test/test_nodelattice.cpp b/nav2_smac_planner/test/test_nodelattice.cpp index 81019e034d..5b93dfa64d 100644 --- a/nav2_smac_planner/test/test_nodelattice.cpp +++ b/nav2_smac_planner/test/test_nodelattice.cpp @@ -49,7 +49,6 @@ TEST(NodeLatticeTest, parser_test) EXPECT_NEAR(metaData.min_turning_radius, 0.5, 0.001); EXPECT_NEAR(metaData.grid_resolution, 0.05, 0.001); EXPECT_NEAR(metaData.number_of_headings, 16, 0.01); - EXPECT_EQ(metaData.output_file, "output.json"); EXPECT_NEAR(metaData.heading_angles[0], 0.0, 0.01); EXPECT_EQ(metaData.number_of_trajectories, 80u); EXPECT_EQ(metaData.motion_model, std::string("ackermann")); From a51790c8e871bc6913f1c257cfadfc5d64912158 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Wed, 27 Oct 2021 17:21:48 -0700 Subject: [PATCH 11/31] adding working base code --- nav2_smac_planner/CMakeLists.txt | 2 + .../include/nav2_smac_planner/node_basic.hpp | 3 +- .../nav2_smac_planner/node_lattice.hpp | 7 ++- .../include/nav2_smac_planner/types.hpp | 1 + .../include/nav2_smac_planner/utils.hpp | 6 +- nav2_smac_planner/package.xml | 1 + nav2_smac_planner/src/a_star.cpp | 58 +++++++++++++------ nav2_smac_planner/src/node_lattice.cpp | 43 +++++++------- nav2_smac_planner/test/test_nodelattice.cpp | 8 +-- 9 files changed, 76 insertions(+), 53 deletions(-) diff --git a/nav2_smac_planner/CMakeLists.txt b/nav2_smac_planner/CMakeLists.txt index 773329fdb8..ac1787cddf 100644 --- a/nav2_smac_planner/CMakeLists.txt +++ b/nav2_smac_planner/CMakeLists.txt @@ -21,6 +21,7 @@ find_package(nav2_costmap_2d REQUIRED) find_package(pluginlib REQUIRED) find_package(eigen3_cmake_module REQUIRED) find_package(Eigen3 REQUIRED) +find_package(angles REQUIRED) find_package(ompl REQUIRED) find_package(OpenMP REQUIRED) @@ -62,6 +63,7 @@ set(dependencies nav2_costmap_2d nav2_core pluginlib + angles eigen3_cmake_module ) diff --git a/nav2_smac_planner/include/nav2_smac_planner/node_basic.hpp b/nav2_smac_planner/include/nav2_smac_planner/node_basic.hpp index bc3b587668..039f5810c3 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/node_basic.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/node_basic.hpp @@ -58,7 +58,8 @@ class NodeBasic typename NodeT::Coordinates pose; // Used by NodeHybrid and NodeLattice NodeT * graph_node_ptr; - unsigned int index; + MotionPrimitive * prim_ptr; // Used by NodeLattice + unsigned int index, motion_index; }; template class NodeBasic; diff --git a/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp b/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp index 33fd64348c..75d924907d 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp @@ -29,6 +29,7 @@ #include #include "ompl/base/StateSpace.h" +#include "angles/angles.h" #include "nav2_smac_planner/constants.hpp" #include "nav2_smac_planner/types.hpp" @@ -70,7 +71,7 @@ struct LatticeMotionTable * @param node Ptr to NodeLattice * @return A set of motion poses */ - MotionPrimitives getMotionPrimitives(const NodeLattice * node); + MotionPrimitivePtrs getMotionPrimitives(const NodeLattice * node); /** * @brief Get file metadata needed @@ -161,7 +162,7 @@ class NodeLattice * @brief Sets the motion primitive used to achieve node in search * @param pointer to motion primitive */ - inline void setMotionPrimitive(MotionPrimitive * prim) + inline void setMotionPrimitive(MotionPrimitive * & prim) { _motion_primitive = prim; } @@ -170,7 +171,7 @@ class NodeLattice * @brief Gets the motion primitive used to achieve node in search * @return pointer to motion primitive */ - inline MotionPrimitive * getMotionPrimitive() + inline MotionPrimitive * & getMotionPrimitive() { return _motion_primitive; } diff --git a/nav2_smac_planner/include/nav2_smac_planner/types.hpp b/nav2_smac_planner/include/nav2_smac_planner/types.hpp index 927f3934a1..8895e8cba0 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/types.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/types.hpp @@ -153,6 +153,7 @@ struct MotionPrimitive }; typedef std::vector MotionPrimitives; +typedef std::vector MotionPrimitivePtrs; } // namespace nav2_smac_planner diff --git a/nav2_smac_planner/include/nav2_smac_planner/utils.hpp b/nav2_smac_planner/include/nav2_smac_planner/utils.hpp index 68a618ee79..fcb267e980 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/utils.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/utils.hpp @@ -145,11 +145,7 @@ inline void fromJsonToMotionPrimitive( json.at("trajectory_length").get_to(motion_primitive.trajectory_length); json.at("arc_length").get_to(motion_primitive.arc_length); json.at("straight_length").get_to(motion_primitive.straight_length); - try { - json.at("left_turn").get_to(motion_primitive.left_turn); - } catch (...) { - /*TODO for actual*/ - } + json.at("left_turn").get_to(motion_primitive.left_turn); for (unsigned int i = 0; i < json["poses"].size(); i++) { MotionPose pose; diff --git a/nav2_smac_planner/package.xml b/nav2_smac_planner/package.xml index 2f1091f4dc..f2c5654915 100644 --- a/nav2_smac_planner/package.xml +++ b/nav2_smac_planner/package.xml @@ -27,6 +27,7 @@ eigen ompl nlohmann-json-dev + angles ament_lint_common ament_lint_auto diff --git a/nav2_smac_planner/src/a_star.cpp b/nav2_smac_planner/src/a_star.cpp index 5e139c9823..f940bccb71 100644 --- a/nav2_smac_planner/src/a_star.cpp +++ b/nav2_smac_planner/src/a_star.cpp @@ -339,6 +339,7 @@ bool AStarAlgorithm::backtracePath(NodePtr node, CoordinateVector & return false; } + Coordinates initial_pose, prim_pose; NodePtr current_node = node; MotionPrimitive * prim = nullptr; const float & grid_resolution = NodeLattice::motion_table.lattice_metadata.grid_resolution; @@ -348,29 +349,23 @@ bool AStarAlgorithm::backtracePath(NodePtr node, CoordinateVector & // if motion primitive is valid, then was searched (rather than analytically expanded), // include dense path of subpoints making up the primitive at grid resolution if (prim) { - Coordinates initial_pose, prim_pose; initial_pose.x = current_node->pose.x - (prim->poses.back()._x / grid_resolution); initial_pose.y = current_node->pose.y - (prim->poses.back()._y / grid_resolution); - initial_pose.theta = NodeLattice::motion_table.getAngleFromBin(prim->start_angle); /*rad*/ + initial_pose.theta = NodeLattice::motion_table.getAngleFromBin(prim->start_angle); - for (auto it = prim->poses.rbegin(); it != prim->poses.rend(); ++it) { + for (auto it = prim->poses.crbegin(); it != prim->poses.crend(); ++it) { // Convert primitive pose into grid space if it should be checked prim_pose.x = initial_pose.x + (it->_x / grid_resolution); prim_pose.y = initial_pose.y + (it->_y / grid_resolution); - prim_pose.theta = initial_pose.theta + it->_theta; /*rad*/ - if (prim_pose.theta < 0.0) { - prim_pose.theta += 2.0 * M_PI; - } - if (prim_pose.theta > 2.0 * M_PI) { - prim_pose.theta -= 2.0 * M_PI; - } + prim_pose.theta = it->_theta; path.push_back(prim_pose); } } else { + // For analytic expansion nodes where there is no valid motion primitive path.push_back(current_node->pose); - // Convert angle to radians path.back().theta = NodeLattice::motion_table.getAngleFromBin(path.back().theta); } + current_node = current_node->parent; } @@ -416,10 +411,10 @@ typename AStarAlgorithm::NodePtr AStarAlgorithm::getNextNode() return node.graph_node_ptr; } -template -typename AStarAlgorithm::NodePtr AStarAlgorithm::getNextNode() +template<> +typename AStarAlgorithm::NodePtr AStarAlgorithm::getNextNode() { - NodeBasic node = _queue.top().second; + NodeBasic node = _queue.top().second; _queue.pop(); // We only want to override the node's pose if it has not yet been visited @@ -427,6 +422,24 @@ typename AStarAlgorithm::NodePtr AStarAlgorithm::getNextNode() // a new branch is overriding one of lower cost already visited. if (!node.graph_node_ptr->wasVisited()) { node.graph_node_ptr->pose = node.pose; + node.graph_node_ptr->setMotionPrimitiveIndex(node.motion_index); + } + + return node.graph_node_ptr; +} + +template<> +typename AStarAlgorithm::NodePtr AStarAlgorithm::getNextNode() +{ + NodeBasic node = _queue.top().second; + _queue.pop(); + + // We only want to override the node's pose/primitive if it has not yet been visited + // to prevent the case that a node has been queued multiple times and + // a new branch is overriding one of lower cost already visited. + if (!node.graph_node_ptr->wasVisited()) { + node.graph_node_ptr->pose = node.pose; + node.graph_node_ptr->setMotionPrimitive(node.prim_ptr); } return node.graph_node_ptr; @@ -440,12 +453,23 @@ void AStarAlgorithm::addNode(const float & cost, NodePtr & node) _queue.emplace(cost, queued_node); } -template -void AStarAlgorithm::addNode(const float & cost, NodePtr & node) +template<> +void AStarAlgorithm::addNode(const float & cost, NodePtr & node) +{ + NodeBasic queued_node(node->getIndex()); + queued_node.pose = node->pose; + queued_node.graph_node_ptr = node; + queued_node.prim_ptr = node->getMotionPrimitive(); + _queue.emplace(cost, queued_node); +} + +template<> +void AStarAlgorithm::addNode(const float & cost, NodePtr & node) { - NodeBasic queued_node(node->getIndex()); + NodeBasic queued_node(node->getIndex()); queued_node.pose = node->pose; queued_node.graph_node_ptr = node; + queued_node.motion_index = node->getMotionPrimitiveIndex(); _queue.emplace(cost, queued_node); } diff --git a/nav2_smac_planner/src/node_lattice.cpp b/nav2_smac_planner/src/node_lattice.cpp index a6714ae67a..8f4b12cde9 100644 --- a/nav2_smac_planner/src/node_lattice.cpp +++ b/nav2_smac_planner/src/node_lattice.cpp @@ -1,5 +1,4 @@ -// Copyright (c) 2020, Samsung Research America -// Copyright (c) 2020, Applied Electric Vehicles Pty Ltd +// Copyright (c) 2021, Samsung Research America // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -109,10 +108,13 @@ void LatticeMotionTable::initMotionModel( } } -MotionPrimitives LatticeMotionTable::getMotionPrimitives(const NodeLattice * node) +MotionPrimitivePtrs LatticeMotionTable::getMotionPrimitives(const NodeLattice * node) { MotionPrimitives & prims_at_heading = motion_primitives[node->pose.theta]; - MotionPrimitives primitive_projection_list = prims_at_heading; + MotionPrimitivePtrs primitive_projection_list; + for (unsigned int i = 0; i != prims_at_heading.size(); i++) { + primitive_projection_list.push_back(&prims_at_heading[i]); + } if (allow_reverse_expansion) { // Find normalized heading bin of the reverse expansion @@ -125,10 +127,9 @@ MotionPrimitives LatticeMotionTable::getMotionPrimitives(const NodeLattice * nod } prims_at_heading = motion_primitives[reserve_heading]; - primitive_projection_list.insert( - primitive_projection_list.end(), - prims_at_heading.begin(), - prims_at_heading.end()); + for (unsigned int i = 0; i != prims_at_heading.size(); i++) { + primitive_projection_list.push_back(&prims_at_heading[i]); + } } return primitive_projection_list; @@ -154,7 +155,7 @@ unsigned int LatticeMotionTable::getClosestAngularBin(const double & theta) unsigned int closest_idx = 0; float dist = 0.0; for (unsigned int i = 0; i != lattice_metadata.heading_angles.size(); i++) { - dist = fabs(theta - lattice_metadata.heading_angles[i]); + dist = fabs(angles::shortest_angular_distance(theta, lattice_metadata.heading_angles[i])); if (dist < min_dist) { min_dist = dist; closest_idx = i; @@ -226,7 +227,7 @@ bool NodeLattice::isNodeValid( MotionPose initial_pose, prim_pose; initial_pose._x = this->pose.x - (motion_primitive->poses.back()._x / grid_resolution); initial_pose._y = this->pose.y - (motion_primitive->poses.back()._y / grid_resolution); - initial_pose._theta = motion_table.getAngleFromBin(motion_primitive->start_angle); /*rad*/ + initial_pose._theta = motion_table.getAngleFromBin(motion_primitive->start_angle); for (auto it = motion_primitive->poses.begin(); it != motion_primitive->poses.end(); ++it) { // poses are in metric coordinates from (0, 0), not grid space yet @@ -237,13 +238,7 @@ bool NodeLattice::isNodeValid( // Convert primitive pose into grid space if it should be checked prim_pose._x = initial_pose._x + (it->_x / grid_resolution); prim_pose._y = initial_pose._y + (it->_y / grid_resolution); - prim_pose._theta = it->_theta; /*rad*/ // TODO initial_pose._theta + - if (prim_pose._theta < 0.0) { - prim_pose._theta += 2.0 * M_PI; - } - if (prim_pose._theta > 2.0 * M_PI) { - prim_pose._theta -= 2.0 * M_PI; - } + prim_pose._theta = it->_theta; if (collision_checker->inCollision( prim_pose._x, prim_pose._y, @@ -464,22 +459,23 @@ void NodeLattice::getNeighbors( unsigned int index = 0; NodePtr neighbor = nullptr; Coordinates initial_node_coords, motion_projection; - MotionPrimitives motion_primitives = motion_table.getMotionPrimitives(this); + MotionPrimitivePtrs motion_primitives = motion_table.getMotionPrimitives(this); const float & grid_resolution = motion_table.lattice_metadata.grid_resolution; unsigned int direction_change_idx = 1e9; for (unsigned int i = 0; i != motion_primitives.size(); i++) { - if (motion_primitives[0].start_angle != motion_primitives[i].start_angle) { + if (motion_primitives[0]->start_angle != motion_primitives[i]->start_angle) { direction_change_idx = i; break; } } for (unsigned int i = 0; i != motion_primitives.size(); i++) { - const MotionPose & end_pose = motion_primitives[i].poses.back(); + const MotionPose & end_pose = motion_primitives[i]->poses.back(); motion_projection.x = this->pose.x + (end_pose._x / grid_resolution); motion_projection.y = this->pose.y + (end_pose._y / grid_resolution); - motion_projection.theta = motion_primitives[i].end_angle /*this is the ending angular bin*/; + motion_projection.theta = motion_primitives[i]->end_angle /*this is the ending angular bin*/; + index = NodeLattice::getIndex( static_cast(motion_projection.x), static_cast(motion_projection.y), @@ -496,8 +492,9 @@ void NodeLattice::getNeighbors( motion_projection.theta)); // Using a special isNodeValid API here, giving the motion primitive to use to // validity check the transition of the current node to the new node over - if (neighbor->isNodeValid(traverse_unknown, collision_checker, &motion_primitives[i])) { - neighbor->setMotionPrimitive(&motion_primitives[i]); + if (neighbor->isNodeValid(traverse_unknown, collision_checker, motion_primitives[i])) { + neighbor->setMotionPrimitive(motion_primitives[i]); + // Marking if this search was obtained in the reverse direction if ((!this->isBackward() && i >= direction_change_idx) || (this->isBackward() && i <= direction_change_idx)) diff --git a/nav2_smac_planner/test/test_nodelattice.cpp b/nav2_smac_planner/test/test_nodelattice.cpp index 5b93dfa64d..2b2f546117 100644 --- a/nav2_smac_planner/test/test_nodelattice.cpp +++ b/nav2_smac_planner/test/test_nodelattice.cpp @@ -103,12 +103,12 @@ TEST(NodeLatticeTest, test_node_lattice_neighbors_and_parsing) nav2_smac_planner::NodeLattice aNode(0); aNode.setPose(nav2_smac_planner::NodeHybrid::Coordinates(0, 0, 0)); - nav2_smac_planner::MotionPrimitives projections = + nav2_smac_planner::MotionPrimitivePtrs projections = nav2_smac_planner::NodeLattice::motion_table.getMotionPrimitives(&aNode); - EXPECT_NEAR(projections[0].poses.back()._x, 0.5, 0.01); - EXPECT_NEAR(projections[0].poses.back()._y, -0.35, 0.01); - EXPECT_NEAR(projections[0].poses.back()._theta, -1.107, 0.01); + EXPECT_NEAR(projections[0]->poses.back()._x, 0.5, 0.01); + EXPECT_NEAR(projections[0]->poses.back()._y, -0.35, 0.01); + EXPECT_NEAR(projections[0]->poses.back()._theta, -1.107, 0.01); EXPECT_NEAR( nav2_smac_planner::NodeLattice::motion_table.getLatticeMetadata( From e6dca9b6b02679a529f01d3e37c0c44f380a47d1 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Wed, 27 Oct 2021 17:22:16 -0700 Subject: [PATCH 12/31] adding search info --- nav2_smac_planner/src/smac_planner_lattice.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/nav2_smac_planner/src/smac_planner_lattice.cpp b/nav2_smac_planner/src/smac_planner_lattice.cpp index f2716ac603..0a79186a48 100644 --- a/nav2_smac_planner/src/smac_planner_lattice.cpp +++ b/nav2_smac_planner/src/smac_planner_lattice.cpp @@ -111,6 +111,7 @@ void SmacPlannerLattice::configure( node->get_parameter(name + ".allow_reverse_expansion", search_info.allow_reverse_expansion); _metadata = LatticeMotionTable::getLatticeMetadata(search_info.lattice_filepath); + search_info.minimum_turning_radius = _metadata.min_turning_radius; MotionModel motion_model = MotionModel::STATE_LATTICE; if (max_iterations <= 0) { From 3a89142f5bde6e1b006dc23b56d36d9c2fc2c917 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Thu, 28 Oct 2021 16:36:57 -0700 Subject: [PATCH 13/31] fully working for non-lateral lattices --- .../nav2_smac_planner/analytic_expansion.hpp | 7 +++++++ .../include/nav2_smac_planner/node_basic.hpp | 1 + .../include/nav2_smac_planner/node_lattice.hpp | 6 +++--- nav2_smac_planner/src/a_star.cpp | 2 ++ nav2_smac_planner/src/analytic_expansion.cpp | 17 +++++++++++++++-- nav2_smac_planner/src/collision_checker.cpp | 2 +- nav2_smac_planner/src/smac_planner_lattice.cpp | 3 ++- 7 files changed, 31 insertions(+), 7 deletions(-) diff --git a/nav2_smac_planner/include/nav2_smac_planner/analytic_expansion.hpp b/nav2_smac_planner/include/nav2_smac_planner/analytic_expansion.hpp index 679a7cd2cd..c576a23c95 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/analytic_expansion.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/analytic_expansion.hpp @@ -110,6 +110,13 @@ class AnalyticExpansion const NodePtr & node, const NodePtr & goal, const AnalyticExpansionNodes & expanded_nodes); + /** + * @brief Takes an expanded nodes to clean up, if necessary, of any state + * information that may be poluting it from a prior search iteration + * @param expanded_nodes Expanded node to clean up from search + */ + void cleanNode(const NodePtr & nodes); + protected: MotionModel _motion_model; SearchInfo _search_info; diff --git a/nav2_smac_planner/include/nav2_smac_planner/node_basic.hpp b/nav2_smac_planner/include/nav2_smac_planner/node_basic.hpp index 039f5810c3..f49f10d53a 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/node_basic.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/node_basic.hpp @@ -60,6 +60,7 @@ class NodeBasic NodeT * graph_node_ptr; MotionPrimitive * prim_ptr; // Used by NodeLattice unsigned int index, motion_index; + bool backward; }; template class NodeBasic; diff --git a/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp b/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp index 75d924907d..d849a04cc2 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp @@ -162,7 +162,7 @@ class NodeLattice * @brief Sets the motion primitive used to achieve node in search * @param pointer to motion primitive */ - inline void setMotionPrimitive(MotionPrimitive * & prim) + inline void setMotionPrimitive(MotionPrimitive * prim) { _motion_primitive = prim; } @@ -232,9 +232,9 @@ class NodeLattice /** * @brief Sets that this primitive is moving in reverse */ - inline void backwards() + inline void backwards(bool back = true) { - _backwards = true; + _backwards = back; } /** diff --git a/nav2_smac_planner/src/a_star.cpp b/nav2_smac_planner/src/a_star.cpp index f940bccb71..577ab30a75 100644 --- a/nav2_smac_planner/src/a_star.cpp +++ b/nav2_smac_planner/src/a_star.cpp @@ -440,6 +440,7 @@ typename AStarAlgorithm::NodePtr AStarAlgorithm::getNe if (!node.graph_node_ptr->wasVisited()) { node.graph_node_ptr->pose = node.pose; node.graph_node_ptr->setMotionPrimitive(node.prim_ptr); + node.graph_node_ptr->backwards(node.backward); } return node.graph_node_ptr; @@ -460,6 +461,7 @@ void AStarAlgorithm::addNode(const float & cost, NodePtr & node) queued_node.pose = node->pose; queued_node.graph_node_ptr = node; queued_node.prim_ptr = node->getMotionPrimitive(); + queued_node.backward = node->isBackward(); _queue.emplace(cost, queued_node); } diff --git a/nav2_smac_planner/src/analytic_expansion.cpp b/nav2_smac_planner/src/analytic_expansion.cpp index 1ebbadebda..c390b07a39 100644 --- a/nav2_smac_planner/src/analytic_expansion.cpp +++ b/nav2_smac_planner/src/analytic_expansion.cpp @@ -51,7 +51,7 @@ typename AnalyticExpansion::NodePtr AnalyticExpansion::tryAnalytic const NodeGetter & getter, int & analytic_iterations, int & closest_distance) { - // This must be a NodeHybrid or NodeLattice if we are using these motion models + // This must be a valid motion model for analytic expansion to be attempted if (_motion_model == MotionModel::DUBIN || _motion_model == MotionModel::REEDS_SHEPP || _motion_model == MotionModel::STATE_LATTICE) { @@ -206,10 +206,11 @@ typename AnalyticExpansion::NodePtr AnalyticExpansion::setAnalytic const NodePtr & goal_node, const AnalyticExpansionNodes & expanded_nodes) { - // Legitimate final path - set the parent relationships & poses + // Legitimate final path - set the parent relationships, states, and poses NodePtr prev = node; for (const auto & node_pose : expanded_nodes) { const auto & n = node_pose.node; + cleanNode(n); if (!n->wasVisited() && n->getIndex() != goal_node->getIndex()) { // Make sure this node has not been visited by the regular algorithm. // If it has been, there is the (slight) chance that it is in the path we are expanding @@ -228,6 +229,18 @@ typename AnalyticExpansion::NodePtr AnalyticExpansion::setAnalytic return goal_node; } +template<> +void AnalyticExpansion::cleanNode(const NodePtr & node) +{ + node->setMotionPrimitive(nullptr); +} + +template +void AnalyticExpansion::cleanNode(const NodePtr & /*expanded_nodes*/) +{ + return; +} + template<> typename AnalyticExpansion::AnalyticExpansionNodes AnalyticExpansion:: getAnalyticPath( diff --git a/nav2_smac_planner/src/collision_checker.cpp b/nav2_smac_planner/src/collision_checker.cpp index d9af6d0bf8..b267259c9c 100644 --- a/nav2_smac_planner/src/collision_checker.cpp +++ b/nav2_smac_planner/src/collision_checker.cpp @@ -141,7 +141,7 @@ bool GridCollisionChecker::inCollision( } // if occupied or unknown and not to traverse unknown space - return footprint_cost_ >= INSCRIBED; + return static_cast(footprint_cost_) >= INSCRIBED; } } diff --git a/nav2_smac_planner/src/smac_planner_lattice.cpp b/nav2_smac_planner/src/smac_planner_lattice.cpp index 0a79186a48..75f468f60b 100644 --- a/nav2_smac_planner/src/smac_planner_lattice.cpp +++ b/nav2_smac_planner/src/smac_planner_lattice.cpp @@ -111,7 +111,8 @@ void SmacPlannerLattice::configure( node->get_parameter(name + ".allow_reverse_expansion", search_info.allow_reverse_expansion); _metadata = LatticeMotionTable::getLatticeMetadata(search_info.lattice_filepath); - search_info.minimum_turning_radius = _metadata.min_turning_radius; + search_info.minimum_turning_radius = + _metadata.min_turning_radius / (_costmap->getResolution() * _downsampling_factor); MotionModel motion_model = MotionModel::STATE_LATTICE; if (max_iterations <= 0) { From 0a81707ad43cf33ea4bc734f3c26b4ada3780003 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Thu, 28 Oct 2021 17:28:22 -0700 Subject: [PATCH 14/31] removing downsampler for lattice, pushing in cost penalty --- .../include/nav2_smac_planner/node_hybrid.hpp | 3 +- .../nav2_smac_planner/node_lattice.hpp | 5 ++- .../smac_planner_lattice.hpp | 4 -- nav2_smac_planner/src/node_hybrid.cpp | 8 ++-- nav2_smac_planner/src/node_lattice.cpp | 3 +- .../src/smac_planner_lattice.cpp | 43 +++---------------- 6 files changed, 18 insertions(+), 48 deletions(-) diff --git a/nav2_smac_planner/include/nav2_smac_planner/node_hybrid.hpp b/nav2_smac_planner/include/nav2_smac_planner/node_hybrid.hpp index b9efc48bbc..faffbd362c 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/node_hybrid.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/node_hybrid.hpp @@ -379,7 +379,8 @@ class NodeHybrid */ static float getObstacleHeuristic( const Coordinates & node_coords, - const Coordinates & goal_coords); + const Coordinates & goal_coords, + const double & cost_penalty); /** * @brief Compute the Distance heuristic diff --git a/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp b/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp index d849a04cc2..4c45378caf 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp @@ -362,9 +362,10 @@ class NodeLattice */ static float getObstacleHeuristic( const Coordinates & node_coords, - const Coordinates & goal_coords) + const Coordinates & goal_coords, + const double & cost_penalty) { - return NodeHybrid::getObstacleHeuristic(node_coords, goal_coords); + return NodeHybrid::getObstacleHeuristic(node_coords, goal_coords, cost_penalty); } /** diff --git a/nav2_smac_planner/include/nav2_smac_planner/smac_planner_lattice.hpp b/nav2_smac_planner/include/nav2_smac_planner/smac_planner_lattice.hpp index 2b935ee090..ec5accf0c3 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/smac_planner_lattice.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/smac_planner_lattice.hpp @@ -22,7 +22,6 @@ #include "nav2_smac_planner/a_star.hpp" #include "nav2_smac_planner/smoother.hpp" #include "nav2_smac_planner/utils.hpp" -#include "nav2_smac_planner/costmap_downsampler.hpp" #include "nav_msgs/msg/occupancy_grid.hpp" #include "nav2_core/global_planner.hpp" #include "nav_msgs/msg/path.hpp" @@ -93,12 +92,9 @@ class SmacPlannerLattice : public nav2_core::GlobalPlanner rclcpp::Clock::SharedPtr _clock; rclcpp::Logger _logger{rclcpp::get_logger("SmacPlannerLattice")}; nav2_costmap_2d::Costmap2D * _costmap; - std::unique_ptr _costmap_downsampler; LatticeMetadata _metadata; std::string _global_frame, _name; float _tolerance; - int _downsampling_factor; - bool _downsample_costmap; rclcpp_lifecycle::LifecyclePublisher::SharedPtr _raw_plan_publisher; double _max_planning_time; }; diff --git a/nav2_smac_planner/src/node_hybrid.cpp b/nav2_smac_planner/src/node_hybrid.cpp index 967398d6e8..b011608a79 100644 --- a/nav2_smac_planner/src/node_hybrid.cpp +++ b/nav2_smac_planner/src/node_hybrid.cpp @@ -355,7 +355,8 @@ float NodeHybrid::getHeuristicCost( const Coordinates & goal_coords, const nav2_costmap_2d::Costmap2D * /*costmap*/) { - const float obstacle_heuristic = getObstacleHeuristic(node_coords, goal_coords); + const float obstacle_heuristic = getObstacleHeuristic( + node_coords, goal_coords, motion_table.cost_penalty); const float dist_heuristic = getDistanceHeuristic(node_coords, goal_coords, obstacle_heuristic); return std::max(obstacle_heuristic, dist_heuristic); } @@ -422,7 +423,8 @@ void NodeHybrid::resetObstacleHeuristic( float NodeHybrid::getObstacleHeuristic( const Coordinates & node_coords, - const Coordinates & goal_coords) + const Coordinates & goal_coords, + const double & cost_penalty) { // If already expanded, return the cost unsigned int size_x = sampled_costmap->getSizeInCellsX(); @@ -473,7 +475,7 @@ float NodeHybrid::getObstacleHeuristic( new_idx = static_cast(static_cast(idx) + neighborhood[i]); cost = static_cast(sampled_costmap->getCost(idx)); travel_cost = - ((i <= 3) ? 1.0 : sqrt_2) + (motion_table.cost_penalty * cost / 252.0); + ((i <= 3) ? 1.0 : sqrt_2) + (cost_penalty * cost / 252.0); current_accumulated_cost = last_accumulated_cost + travel_cost; // if neighbor path is better and non-lethal, set new cost and add to queue diff --git a/nav2_smac_planner/src/node_lattice.cpp b/nav2_smac_planner/src/node_lattice.cpp index 8f4b12cde9..ae05ce83d1 100644 --- a/nav2_smac_planner/src/node_lattice.cpp +++ b/nav2_smac_planner/src/node_lattice.cpp @@ -316,7 +316,8 @@ float NodeLattice::getHeuristicCost( const nav2_costmap_2d::Costmap2D * costmap) { // get obstacle heuristic value - const float obstacle_heuristic = getObstacleHeuristic(node_coords, goal_coords); + const float obstacle_heuristic = getObstacleHeuristic( + node_coords, goal_coords, motion_table.cost_penalty); const float distance_heuristic = getDistanceHeuristic(node_coords, goal_coords, obstacle_heuristic); return std::max(obstacle_heuristic, distance_heuristic); diff --git a/nav2_smac_planner/src/smac_planner_lattice.cpp b/nav2_smac_planner/src/smac_planner_lattice.cpp index 75f468f60b..50655589c0 100644 --- a/nav2_smac_planner/src/smac_planner_lattice.cpp +++ b/nav2_smac_planner/src/smac_planner_lattice.cpp @@ -32,8 +32,7 @@ SmacPlannerLattice::SmacPlannerLattice() : _a_star(nullptr), _collision_checker(nullptr, 1), _smoother(nullptr), - _costmap(nullptr), - _costmap_downsampler(nullptr) + _costmap(nullptr) { } @@ -64,13 +63,6 @@ void SmacPlannerLattice::configure( SearchInfo search_info; // General planner params - nav2_util::declare_parameter_if_not_declared( - node, name + ".downsample_costmap", rclcpp::ParameterValue(false)); - node->get_parameter(name + ".downsample_costmap", _downsample_costmap); - nav2_util::declare_parameter_if_not_declared( - node, name + ".downsampling_factor", rclcpp::ParameterValue(1)); - node->get_parameter(name + ".downsampling_factor", _downsampling_factor); - nav2_util::declare_parameter_if_not_declared( node, name + ".allow_unknown", rclcpp::ParameterValue(true)); node->get_parameter(name + ".allow_unknown", allow_unknown); @@ -112,7 +104,7 @@ void SmacPlannerLattice::configure( _metadata = LatticeMotionTable::getLatticeMetadata(search_info.lattice_filepath); search_info.minimum_turning_radius = - _metadata.min_turning_radius / (_costmap->getResolution() * _downsampling_factor); + _metadata.min_turning_radius / (_costmap->getResolution()); MotionModel motion_model = MotionModel::STATE_LATTICE; if (max_iterations <= 0) { @@ -124,7 +116,7 @@ void SmacPlannerLattice::configure( float lookup_table_dim = static_cast(lookup_table_size) / - static_cast(_costmap->getResolution() * _downsampling_factor); + static_cast(_costmap->getResolution()); // Make sure its a whole number lookup_table_dim = static_cast(static_cast(lookup_table_dim)); @@ -166,14 +158,6 @@ void SmacPlannerLattice::configure( _smoother = std::make_unique(params); _smoother->initialize(_metadata.min_turning_radius); - // Initialize costmap downsampler - if (_downsample_costmap && _downsampling_factor > 1) { - std::string topic_name = "downsampled_costmap"; - _costmap_downsampler = std::make_unique(); - _costmap_downsampler->on_configure( - node, _global_frame, topic_name, _costmap, _downsampling_factor); - } - _raw_plan_publisher = node->create_publisher("unsmoothed_plan", 1); RCLCPP_INFO( @@ -191,9 +175,6 @@ void SmacPlannerLattice::activate() _logger, "Activating plugin %s of type SmacPlannerLattice", _name.c_str()); _raw_plan_publisher->on_activate(); - if (_costmap_downsampler) { - _costmap_downsampler->on_activate(); - } } void SmacPlannerLattice::deactivate() @@ -202,9 +183,6 @@ void SmacPlannerLattice::deactivate() _logger, "Deactivating plugin %s of type SmacPlannerLattice", _name.c_str()); _raw_plan_publisher->on_deactivate(); - if (_costmap_downsampler) { - _costmap_downsampler->on_deactivate(); - } } void SmacPlannerLattice::cleanup() @@ -214,8 +192,6 @@ void SmacPlannerLattice::cleanup() _name.c_str()); _a_star.reset(); _smoother.reset(); - _costmap_downsampler->on_cleanup(); - _costmap_downsampler.reset(); _raw_plan_publisher.reset(); } @@ -227,25 +203,18 @@ nav_msgs::msg::Path SmacPlannerLattice::createPlan( std::unique_lock lock(*(_costmap->getMutex())); - // Downsample costmap, if required - nav2_costmap_2d::Costmap2D * costmap = _costmap; - if (_costmap_downsampler) { - costmap = _costmap_downsampler->downsample(_downsampling_factor); - _collision_checker.setCostmap(costmap); - } - // Set collision checker and costmap information _a_star->setCollisionChecker(&_collision_checker); // Set starting point, in A* bin search coordinates unsigned int mx, my; - costmap->worldToMap(start.pose.position.x, start.pose.position.y, mx, my); + _costmap->worldToMap(start.pose.position.x, start.pose.position.y, mx, my); _a_star->setStart( mx, my, NodeLattice::motion_table.getClosestAngularBin(tf2::getYaw(start.pose.orientation))); // Set goal point, in A* bin search coordinates - costmap->worldToMap(goal.pose.position.x, goal.pose.position.y, mx, my); + _costmap->worldToMap(goal.pose.position.x, goal.pose.position.y, mx, my); _a_star->setGoal( mx, my, NodeLattice::motion_table.getClosestAngularBin(tf2::getYaw(goal.pose.orientation))); @@ -290,7 +259,7 @@ nav_msgs::msg::Path SmacPlannerLattice::createPlan( // Convert to world coordinates plan.poses.reserve(path.size()); for (int i = path.size() - 1; i >= 0; --i) { - pose.pose = getWorldCoords(path[i].x, path[i].y, costmap); + pose.pose = getWorldCoords(path[i].x, path[i].y, _costmap); pose.pose.orientation = getWorldOrientation(path[i].theta); plan.poses.push_back(pose); } From f2f48f63764dedaa67e69bd60e8ac88f96a5b75c Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Thu, 11 Nov 2021 17:00:46 -0800 Subject: [PATCH 15/31] adding in updated heuristics, tuned gains, and generally working for ackermann cases --- nav2_smac_planner/README.md | 6 +++--- nav2_smac_planner/src/node_hybrid.cpp | 17 +++-------------- nav2_smac_planner/src/node_lattice.cpp | 18 ++++-------------- nav2_smac_planner/src/smac_planner_hybrid.cpp | 6 +++--- nav2_smac_planner/src/smac_planner_lattice.cpp | 8 ++++---- 5 files changed, 17 insertions(+), 38 deletions(-) diff --git a/nav2_smac_planner/README.md b/nav2_smac_planner/README.md index fb51ea275c..9f2045e52c 100644 --- a/nav2_smac_planner/README.md +++ b/nav2_smac_planner/README.md @@ -110,9 +110,9 @@ planner_server: analytic_expansion_ratio: 3.5 # For Hybrid/Lattice nodes: The ratio to attempt analytic expansions during search for final approach. minimum_turning_radius: 0.40 # For Hybrid/Lattice nodes: minimum turning radius in m of path / vehicle reverse_penalty: 2.1 # For Reeds-Shepp model: penalty to apply if motion is reversing, must be => 1 - change_penalty: 0.15 # For Hybrid nodes: penalty to apply if motion is changing directions, must be >= 0 - non_straight_penalty: 1.50 # For Hybrid nodes: penalty to apply if motion is non-straight, must be => 1 - cost_penalty: 1.7 # For Hybrid nodes: penalty to apply to higher cost areas when adding into the obstacle map dynamic programming distance expansion heuristic. This drives the robot more towards the center of passages. A value between 1.3 - 3.5 is reasonable. + change_penalty: 0.20 # For Hybrid nodes: penalty to apply if motion is changing directions, must be >= 0 + non_straight_penalty: 1.25 # For Hybrid nodes: penalty to apply if motion is non-straight, must be => 1 + cost_penalty: 2.0 # For Hybrid nodes: penalty to apply to higher cost areas when adding into the obstacle map dynamic programming distance expansion heuristic. This drives the robot more towards the center of passages. A value between 1.3 - 3.5 is reasonable. lookup_table_size: 20 # For Hybrid nodes: Size of the dubin/reeds-sheep distance window to cache, in meters. cache_obstacle_heuristic: True # For Hybrid nodes: Cache the obstacle map dynamic programming distance expansion heuristic between subsiquent replannings of the same goal location. Dramatically speeds up replanning performance (40x) if costmap is largely static. allow_reverse_expansion: False # For Lattice nodes: Whether to expand state lattice graph in forward primitives or reverse as well, will double the branching factor at each step. diff --git a/nav2_smac_planner/src/node_hybrid.cpp b/nav2_smac_planner/src/node_hybrid.cpp index b011608a79..0f008874f9 100644 --- a/nav2_smac_planner/src/node_hybrid.cpp +++ b/nav2_smac_planner/src/node_hybrid.cpp @@ -313,20 +313,9 @@ float NodeHybrid::getTraversalCost(const NodePtr & child) return NodeHybrid::travel_distance_cost; } - // Note(stevemacenski): `travel_cost_raw` at one point contained a term: - // `+ motion_table.cost_penalty * normalized_cost;` - // It has been removed, but we may want to readdress this point and determine - // the technically and theoretically correctness of that choice. I feel technically speaking - // that term has merit, but it doesn't seem to impact performance or path quality. - // W/o it lowers the travel cost, which would drive the heuristics up proportionally where I - // would expect it to plan much faster in all cases, but I only see it in some cases. Since - // this term would weight against moving to high cost zones, I would expect to see more smooth - // central motion, but I only see it in some cases, possibly because the obstacle heuristic is - // already driving the robot away from high cost areas; implicitly handling this. However, - // then I would expect that not adding it here would make it unbalanced enough that path quality - // would suffer, which I did not see in my limited experimentation, possibly due to the smoother. float travel_cost = 0.0; - float travel_cost_raw = NodeHybrid::travel_distance_cost; + float travel_cost_raw = + NodeHybrid::travel_distance_cost + (motion_table.cost_penalty * normalized_cost); if (child->getMotionPrimitiveIndex() == 0 || child->getMotionPrimitiveIndex() == 3) { // New motion is a straight motion, no additional costs to be applied @@ -475,7 +464,7 @@ float NodeHybrid::getObstacleHeuristic( new_idx = static_cast(static_cast(idx) + neighborhood[i]); cost = static_cast(sampled_costmap->getCost(idx)); travel_cost = - ((i <= 3) ? 1.0 : sqrt_2) + (cost_penalty * cost / 252.0); + ((i <= 3) ? 1.0 : sqrt_2) + (((i <= 3) ? 1.0 : sqrt_2) * cost_penalty * cost / 252.0); current_accumulated_cost = last_accumulated_cost + travel_cost; // if neighbor path is better and non-lethal, set new cost and add to queue diff --git a/nav2_smac_planner/src/node_lattice.cpp b/nav2_smac_planner/src/node_lattice.cpp index ae05ce83d1..623d232c56 100644 --- a/nav2_smac_planner/src/node_lattice.cpp +++ b/nav2_smac_planner/src/node_lattice.cpp @@ -268,24 +268,14 @@ float NodeLattice::getTraversalCost(const NodePtr & child) // this is the first node MotionPrimitive * prim = this->getMotionPrimitive(); MotionPrimitive * transition_prim = child->getMotionPrimitive(); + const float prim_length = + transition_prim->trajectory_length / motion_table.lattice_metadata.grid_resolution; if (prim == nullptr) { - return transition_prim->trajectory_length; + return prim_length; } - // Note(stevemacenski): `travel_cost_raw` at one point contained a term: - // `+ motion_table.cost_penalty * normalized_cost;` - // It has been removed, but we may want to readdress this point and determine - // the technically and theoretically correctness of that choice. I feel technically speaking - // that term has merit, but it doesn't seem to impact performance or path quality. - // W/o it lowers the travel cost, which would drive the heuristics up proportionally where I - // would expect it to plan much faster in all cases, but I only see it in some cases. Since - // this term would weight against moving to high cost zones, I would expect to see more smooth - // central motion, but I only see it in some cases, possibly because the obstacle heuristic is - // already driving the robot away from high cost areas; implicitly handling this. However, - // then I would expect that not adding it here would make it unbalanced enough that path quality - // would suffer, which I did not see in my limited experimentation, possibly due to the smoother. float travel_cost = 0.0; - float travel_cost_raw = transition_prim->trajectory_length; + float travel_cost_raw = prim_length + (prim_length * motion_table.cost_penalty * normalized_cost); if (transition_prim->arc_length < 0.001) { // New motion is a straight motion, no additional costs to be applied diff --git a/nav2_smac_planner/src/smac_planner_hybrid.cpp b/nav2_smac_planner/src/smac_planner_hybrid.cpp index 9565049cd5..b4ecee5e53 100644 --- a/nav2_smac_planner/src/smac_planner_hybrid.cpp +++ b/nav2_smac_planner/src/smac_planner_hybrid.cpp @@ -95,13 +95,13 @@ void SmacPlannerHybrid::configure( node, name + ".reverse_penalty", rclcpp::ParameterValue(2.0)); node->get_parameter(name + ".reverse_penalty", _search_info.reverse_penalty); nav2_util::declare_parameter_if_not_declared( - node, name + ".change_penalty", rclcpp::ParameterValue(0.15)); + node, name + ".change_penalty", rclcpp::ParameterValue(0.20)); node->get_parameter(name + ".change_penalty", _search_info.change_penalty); nav2_util::declare_parameter_if_not_declared( - node, name + ".non_straight_penalty", rclcpp::ParameterValue(1.50)); + node, name + ".non_straight_penalty", rclcpp::ParameterValue(1.25)); node->get_parameter(name + ".non_straight_penalty", _search_info.non_straight_penalty); nav2_util::declare_parameter_if_not_declared( - node, name + ".cost_penalty", rclcpp::ParameterValue(1.7)); + node, name + ".cost_penalty", rclcpp::ParameterValue(2.0)); node->get_parameter(name + ".cost_penalty", _search_info.cost_penalty); nav2_util::declare_parameter_if_not_declared( node, name + ".analytic_expansion_ratio", rclcpp::ParameterValue(3.5)); diff --git a/nav2_smac_planner/src/smac_planner_lattice.cpp b/nav2_smac_planner/src/smac_planner_lattice.cpp index 50655589c0..6a31575bcd 100644 --- a/nav2_smac_planner/src/smac_planner_lattice.cpp +++ b/nav2_smac_planner/src/smac_planner_lattice.cpp @@ -80,13 +80,13 @@ void SmacPlannerLattice::configure( node, name + ".reverse_penalty", rclcpp::ParameterValue(2.0)); node->get_parameter(name + ".reverse_penalty", search_info.reverse_penalty); nav2_util::declare_parameter_if_not_declared( - node, name + ".change_penalty", rclcpp::ParameterValue(0.15)); + node, name + ".change_penalty", rclcpp::ParameterValue(0.05)); node->get_parameter(name + ".change_penalty", search_info.change_penalty); nav2_util::declare_parameter_if_not_declared( - node, name + ".non_straight_penalty", rclcpp::ParameterValue(1.50)); + node, name + ".non_straight_penalty", rclcpp::ParameterValue(1.05)); node->get_parameter(name + ".non_straight_penalty", search_info.non_straight_penalty); nav2_util::declare_parameter_if_not_declared( - node, name + ".cost_penalty", rclcpp::ParameterValue(1.7)); + node, name + ".cost_penalty", rclcpp::ParameterValue(2.0)); node->get_parameter(name + ".cost_penalty", search_info.cost_penalty); nav2_util::declare_parameter_if_not_declared( node, name + ".analytic_expansion_ratio", rclcpp::ParameterValue(3.5)); @@ -281,7 +281,7 @@ nav_msgs::msg::Path SmacPlannerLattice::createPlan( // Smooth plan if (num_iterations > 1 && plan.poses.size() > 6) { - _smoother->smooth(plan, costmap, time_remaining); + _smoother->smooth(plan, _costmap, time_remaining); } #ifdef BENCHMARK_TESTING From 460271dc426c71f8982dacbdee8956e08d382362 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Mon, 15 Nov 2021 18:10:25 -0800 Subject: [PATCH 16/31] reverse expansion working --- nav2_smac_planner/README.md | 38 +++++++++----- .../nav2_smac_planner/node_lattice.hpp | 7 ++- nav2_smac_planner/src/a_star.cpp | 9 +++- nav2_smac_planner/src/analytic_expansion.cpp | 1 + nav2_smac_planner/src/node_hybrid.cpp | 2 +- nav2_smac_planner/src/node_lattice.cpp | 52 ++++++++++++++----- 6 files changed, 81 insertions(+), 28 deletions(-) diff --git a/nav2_smac_planner/README.md b/nav2_smac_planner/README.md index 9f2045e52c..18df3a817f 100644 --- a/nav2_smac_planner/README.md +++ b/nav2_smac_planner/README.md @@ -18,11 +18,11 @@ We have users reporting using this on: ## Introduction -The `nav2_smac_planner` package contains an optimized templated A* search algorithm used to create multiple A\*-based planners for multiple types of robot platforms. It was built by [Steve Macenski](https://www.linkedin.com/in/steve-macenski-41a985101/) while at [Samsung Research](https://www.sra.samsung.com/). We support **circular** differential-drive and omni-directional drive robots using the `SmacPlanner2D` planner which implements a cost-aware A\* planner. We support **legged, cars, car-like, and ackermann vehicles** using the `SmacPlannerHybrid` plugin which implements a Hybrid-A\* planner. We support **non-circular, arbitrary shaped, any model vehicles** using the `SmacPlannerLattice` plugin which implements a State Lattice planner. It contains control sets and generators for ackermann, legged, differential drive and omnidirectional vehicles, but you may provide your own for another robot type or to have different planning behaviors. The last two plugins are also useful for curvature constrained planning, like when planning robot at high speeds to make sure they don't flip over or otherwise skid out of control. It is also applicable to non-round robots (such as large rectangular or arbitrary shaped robots of differential/omnidirectional drivetrains) that need pose-based collision checking. +The `nav2_smac_planner` package contains an optimized templated A* search algorithm used to create multiple A\*-based planners for multiple types of robot platforms. It was built by [Steve Macenski](https://www.linkedin.com/in/steve-macenski-41a985101/) while at [Samsung Research](https://www.sra.samsung.com/). We support **circular** differential-drive and omni-directional drive robots using the `SmacPlanner2D` planner which implements a cost-aware A\* planner. We support **legged, cars, car-like, and ackermann vehicles** using the `SmacPlannerHybrid` plugin which implements a Hybrid-A\* planner. We support **non-circular, arbitrary shaped, any model vehicles** using the `SmacPlannerLattice` plugin which implements a State Lattice planner. It contains control sets and generators for ackermann, legged, differential drive and omnidirectional vehicles, but you may provide your own for another robot type or to have different planning behaviors. The last two plugins are also useful for curvature constrained or kinematically feasible planning, like when planning robot at high speeds to make sure they don't flip over or otherwise skid out of control. It is also applicable to non-round robots (such as large rectangular or arbitrary shaped robots of differential/omnidirectional drivetrains) that need pose-based collision checking. -The `SmacPlannerHybrid` implements the Hybrid-A* planner as proposed in [Practical Search Techniques in Path Planning for Autonomous Driving](https://ai.stanford.edu/~ddolgov/papers/dolgov_gpp_stair08.pdf), including hybrid searching, gradient descent smoothing, analytic expansions and hueristic functions. +The `SmacPlannerHybrid` implements the Hybrid-A* planner as proposed in [Practical Search Techniques in Path Planning for Autonomous Driving](https://ai.stanford.edu/~ddolgov/papers/dolgov_gpp_stair08.pdf), with modifications to the heuristic, traversal functions to increase path quality without needing expensive optimization-based smoothing. -The `SmacPlannerLattice` implements the State Lattice planner with smoothing. While we do not implement it precisely the same way as [Optimal, Smooth, Nonholonomic MobileRobot Motion Planning in State Lattices](https://www.ri.cmu.edu/pub_files/pub4/pivtoraiko_mihail_2007_1/pivtoraiko_mihail_2007_1.pdf) (with control sets found using [Generating Near Minimal Spanning Control Sets for Constrained Motion Planning in Discrete State Spaces](https://www.ri.cmu.edu/pub_files/pub4/pivtoraiko_mihail_2005_1/pivtoraiko_mihail_2005_1.pdf)), it is sufficiently similar it may be used as a good reference. Additional optimizations for on-approach analytic expansions and simplier heuristic functions were used, largely matching those of Hybrid-A\*. +The `SmacPlannerLattice` implements the State Lattice planner. While we do not implement it precisely the same way as [Optimal, Smooth, Nonholonomic MobileRobot Motion Planning in State Lattices](https://www.ri.cmu.edu/pub_files/pub4/pivtoraiko_mihail_2007_1/pivtoraiko_mihail_2007_1.pdf) (with control sets found using [Generating Near Minimal Spanning Control Sets for Constrained Motion Planning in Discrete State Spaces](https://www.ri.cmu.edu/pub_files/pub4/pivtoraiko_mihail_2005_1/pivtoraiko_mihail_2005_1.pdf)), it is sufficiently similar it may be used as a good reference. Additional optimizations for on-approach analytic expansions and improved heuristic functions were used, largely matching those of Hybrid-A\* to allow them to share these optimized implementations to drive search towards the goal, faster. In summary... @@ -48,21 +48,21 @@ We further improve on Hybrid-A\* in the following ways: - Cost-aware penalty functions in search resulting in far smoother plans (further reducing requirement to smooth). - Gradient-descent, basic but fast smoother - Faster planning than original paper by highly optimizing the template A\* algorithm. -- Faster planning via custom precomputed heuristic, motion primitive, and other values. +- Faster planning via custom precomputed heuristic, motion primitive, and other functions. - Automatically adjusted search motion model sizes by motion model, costmap resolution, and bin sizing. - Closest path on approach within tolerance if exact path cannot be found or in invalid space. - Multi-model hybrid searching including Dubin and Reeds-Shepp models. More models may be trivially added. - High unit and integration test coverage, doxygen documentation. - Uses modern C++14 language features and individual components are easily reusable. -- Speed optimizations: no data structure graph lookups in main loop, near-zero copy main loop, dynamically generated graph and dynamic programming-based obstacle heuristic, optional recomputation of heuristics for subsiquent planning requests of the same goal, etc. +- Speed optimizations: no data structure graph lookups in main loop, near-zero copy main loop, dynamically generated graph and dynamic programming-based obstacle heuristic, optional recomputation of heuristics for subsequent planning requests of the same goal, etc. - Templated Nodes and A\* implementation to support additional robot extensions. -- Selective re-evaluation of the obstacle heuristic per goal/map or each iteration, which can speed up subsiquent replanning 20x or more. +- Selective re-evaluation of the obstacle heuristic per goal/map or each iteration, which can speed up subsequent replanning 20x or more. -All of these features (multi-resolution, models, smoother, etc) are also available in the `SmacPlanner2D` and `SmacPlannerLattice` plugins. +Most of these features (multi-resolution, models, smoother, etc) are also available in the `SmacPlanner2D` and `SmacPlannerLattice` plugins. -The 2D A\* implementation also does not have any of the weird artifacts introduced by the gradient wavefront-based 2D A\* implementation in the NavFn Planner. While this 2D A\* planner is slightly slower, I believe it's well worth the increased quality in paths. Though the `SmacPlanner2D` is grid-based, any reasonable local trajectory planner - including those supported by Nav2 - will not have any issue with grid-based plans. +The 2D A\* implementation also does not have any of the weird artifacts introduced by the gradient wavefront-based 2D A\* implementation in the NavFn Planner. While this 2D A\* planner is slightly slower, I believe it's well worth the increased quality in paths. -Note: In prior releases, a CG smoother largely implementing the original Hybrid-A\* paper's. However, this smoother failed to consistently provide useful results, took too much compute time, and was deprecated. While smoothing a path 95% of the time seems like a "good" solution, we need something far more reliable for practical use. Since we are working with mobile robots and not autonomous cars at 60 mph, we can take some different liberties in smoothing knowing that our local trajectory planners are pretty smart. If you are looking for it, it now lives in the `test/` directory in a depreciated folder. This smoother has been replaced by a simpler optimization inspired solution which is faster, far more consistent, and simpler to understand. While this smoother is **not** cost-aware, we have added cost-aware penalty functions in the planners themselves to push the plans away from high-cost spaces and we do check for validity of smoothed sections to ensure feasibility. It will through terminate when paths become in collision with the environment. +Note: In prior releases, a CG smoother largely implementing the original Hybrid-A\* paper's. However, this smoother failed to consistently provide useful results, took too much compute time, and was deprecated. While smoothing a path 95% of the time seems like a "good" solution, we need something far more reliable for practical use. Since we are working with mobile robots and not autonomous cars at 60 mph, we can take some different liberties in smoothing knowing that our local trajectory planners are pretty smart. If you are looking for it, it now lives in the new Smoothing Server as the Cost-aware smoother. This smoother has been replaced by a simpler optimization inspired solution which is faster, far more consistent, and simpler to understand. While this smoother is **not** cost-aware, we have added cost-aware penalty functions in the planners themselves to push the plans away from high-cost spaces and we do check for validity of smoothed sections to ensure feasibility. It will through terminate when paths become in collision with the environment. If you would like to use this smoother, however, it is available in the smoother server, though it will take some additional compute time. ## Metrics @@ -79,9 +79,9 @@ For example, the following path (roughly 85 meters) path took 33ms to compute. The basic design centralizes a templated A\* implementation that handles the search of a graph of nodes. The implementation is templated by the nodes, `NodeT`, which contain the methods needed to compute the hueristics, travel costs, and search neighborhoods. The outcome of this design is then a standard A\* implementation that can be used to traverse any type of graph as long as a node template can be created for it. -We provide by default a 2D node template (`Node2D`) which does 2D grid-search with either 4 or 8-connected neighborhoods, but the smoother smooths it out on turns. We also provide a Hybrid A\* node template (`NodeHybrid`) which does SE2 (X, Y, theta) search and collision checking on Dubin or Reeds-Shepp motion models. We also provide the Lattice (`NodeLattice`) node for state lattice planning making use of the wider range of velocity options available to differential and omnidirectional robots. Additional templates could be easily made and included for 3D grid search and non-grid base searching like routing. +We provide 3 nodes by default currently. The 2D node template (`Node2D`) which does 2D grid-search with either 4 or 8-connected neighborhoods. We also provide a Hybrid A\* node template (`NodeHybrid`) which does SE2 (X, Y, theta) search and collision checking on Dubin or Reeds-Shepp motion models. We also provide the Lattice (`NodeLattice`) node for state lattice planning making use of the wider range of velocity options available to differential and omnidirectional robots. Additional templates could be easily made and included for 3D grid search and non-grid base searching like routing. -In the ROS2 facing plugin, we take in the global goals and pre-process the data to feed into the templated A\* used. This includes processing any requests to downsample the costmap to another resolution to speed up search and smoothing the resulting A\* path. For the `SmacPlannerHybrid` and `SmacPlannerLattice` plugins, the path is promised to be kinematically feasible due to the kinematically valid models used in branching search. The 2D A\* is also promised to be feasible for differential and omni-directional robots. +In the ROS2 facing plugin, we take in the global goals and pre-process the data to feed into the templated A\* used. This includes processing any requests to downsample the costmap to another resolution to speed up search and smoothing the resulting A\* path (not available for State Lattice due to the lattices generated are dependent on costmap resolution). For the `SmacPlannerHybrid` and `SmacPlannerLattice` plugins, the path is promised to be kinematically feasible due to the kinematically valid models used in branching search. The 2D A\* is also promised to be feasible for differential and omni-directional robots. We isolated the A\*, costmap downsampler, smoother, and Node template objects from ROS2 to allow them to be easily testable independently of ROS or the planner. The only place ROS is used is in the planner plugins themselves. @@ -133,7 +133,7 @@ planner_server: ## Install ``` -sudo apt-get install ros--smac-planner +sudo apt-get install ros--nav2-smac-planner ``` ## Etc (Important Side Notes) @@ -164,6 +164,20 @@ I recommend users using a 5cm resolution costmap and playing with the different Remember, the global costmap is **only** there to provide an environment for the planner to work in. It is not there for human-viewing even if a more fine resolution costmap is more human "pleasing". If you use multiple planners in the planner server, then you will want to use the highest resolution for the most needed planner and then use the downsampler to downsample to the Hybrid-A* resolution. +### Penalty Function Tuning + +The penalty function defaults are tuned for all of the planners based on a 5cm costmap. While some change in this should not largely impact default behavior, it may be good to tune for your specific application and needs. The default values were tuned to have decent out of the box behavior for a large number of platforms and resolutions. In most situations, you should not need to play with them. + +**However**, due to the nature of the State Lattice planner being able to use any number of custom generated minimum control sets, this planner may require more tuning to get good behavior. The defaults for State Lattice were generated using the 5cm Ackermann files you can find in this package as initial examples. + +When tuning, the "reasonable" range for each penalty is listed below. While you may obviously tune outside of these ranges, I've found that they offer a good trade-off and outside of these ranges behaviors get suboptimal quickly. +- Cost: 1.7 - 6.0 +- Non-Straight: 1.0 - 1.3 +- Change: 0.0 - 0.3 +- Reverse: 1.3 - 5.0 + +Note that change penalty must be greater than 0.0. The Non-staight, reverse, and cost penalties must be greater than 1.0, strictly. + ### No path found for clearly valid goals or long compute times Before addressing the section below, make sure you have an appropriately set max iterations parameter. If you have a 1 km2 sized warehouse, clearly 5000 expansions will be insufficient. Try increasing this value if you're unable to achieve goals or disable it with the `-1` value to see if you are now able to plan within a reasonable time period. If you still have issues, there is a secondary effect which could be happening that is good to be aware of. diff --git a/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp b/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp index 4c45378caf..363a322299 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp @@ -241,7 +241,7 @@ class NodeLattice * @brief Gets if this primitive is moving in reverse * @return backwards If moving in reverse */ - inline bool & isBackward() + inline bool isBackward() { return _backwards; } @@ -252,12 +252,15 @@ class NodeLattice * @param collision_checker Collision checker object to aid in validity checking * @param primitive Optional argument if needing to check over a primitive * not only a terminal pose + * @param is_backwards Optional argument if needed to check if prim expansion is + * in reverse * @return whether this node is valid and collision free */ bool isNodeValid( const bool & traverse_unknown, GridCollisionChecker * collision_checker, - MotionPrimitive * primitive = nullptr); + MotionPrimitive * primitive = nullptr, + bool is_backwards = false); /** * @brief Get traversal cost of parent node to child node diff --git a/nav2_smac_planner/src/a_star.cpp b/nav2_smac_planner/src/a_star.cpp index 577ab30a75..066062901b 100644 --- a/nav2_smac_planner/src/a_star.cpp +++ b/nav2_smac_planner/src/a_star.cpp @@ -343,6 +343,7 @@ bool AStarAlgorithm::backtracePath(NodePtr node, CoordinateVector & NodePtr current_node = node; MotionPrimitive * prim = nullptr; const float & grid_resolution = NodeLattice::motion_table.lattice_metadata.grid_resolution; + const float pi_2 = 2.0 * M_PI; while (current_node->parent) { prim = current_node->getMotionPrimitive(); @@ -357,7 +358,13 @@ bool AStarAlgorithm::backtracePath(NodePtr node, CoordinateVector & // Convert primitive pose into grid space if it should be checked prim_pose.x = initial_pose.x + (it->_x / grid_resolution); prim_pose.y = initial_pose.y + (it->_y / grid_resolution); - prim_pose.theta = it->_theta; + // If reversing, invert the angle because the robot is backing into the primitive + // not driving forward with it + if (current_node->isBackward()) { + prim_pose.theta = std::fmod(it->_theta + M_PI, pi_2); + } else { + prim_pose.theta = it->_theta; + } path.push_back(prim_pose); } } else { diff --git a/nav2_smac_planner/src/analytic_expansion.cpp b/nav2_smac_planner/src/analytic_expansion.cpp index c390b07a39..f22acc12a7 100644 --- a/nav2_smac_planner/src/analytic_expansion.cpp +++ b/nav2_smac_planner/src/analytic_expansion.cpp @@ -224,6 +224,7 @@ typename AnalyticExpansion::NodePtr AnalyticExpansion::setAnalytic } if (goal_node != prev) { goal_node->parent = prev; + cleanNode(goal_node); goal_node->visited(); } return goal_node; diff --git a/nav2_smac_planner/src/node_hybrid.cpp b/nav2_smac_planner/src/node_hybrid.cpp index 0f008874f9..6d71779b67 100644 --- a/nav2_smac_planner/src/node_hybrid.cpp +++ b/nav2_smac_planner/src/node_hybrid.cpp @@ -331,7 +331,7 @@ float NodeHybrid::getTraversalCost(const NodePtr & child) } } - if (getMotionPrimitiveIndex() > 2) { + if (child->getMotionPrimitiveIndex() > 2) { // reverse direction travel_cost *= motion_table.reverse_penalty; } diff --git a/nav2_smac_planner/src/node_lattice.cpp b/nav2_smac_planner/src/node_lattice.cpp index 623d232c56..3dd3c52aeb 100644 --- a/nav2_smac_planner/src/node_lattice.cpp +++ b/nav2_smac_planner/src/node_lattice.cpp @@ -21,6 +21,7 @@ #include #include #include +#include #include "ompl/base/ScopedState.h" #include "ompl/base/spaces/DubinsStateSpace.h" @@ -126,9 +127,9 @@ MotionPrimitivePtrs LatticeMotionTable::getMotionPrimitives(const NodeLattice * reserve_heading -= num_angle_quantization; } - prims_at_heading = motion_primitives[reserve_heading]; - for (unsigned int i = 0; i != prims_at_heading.size(); i++) { - primitive_projection_list.push_back(&prims_at_heading[i]); + MotionPrimitives & prims_at_reverse_heading = motion_primitives[reserve_heading]; + for (unsigned int i = 0; i != prims_at_reverse_heading.size(); i++) { + primitive_projection_list.push_back(&prims_at_reverse_heading[i]); } } @@ -202,7 +203,8 @@ void NodeLattice::reset() bool NodeLattice::isNodeValid( const bool & traverse_unknown, GridCollisionChecker * collision_checker, - MotionPrimitive * motion_primitive) + MotionPrimitive * motion_primitive, + bool is_backwards) { // Check primitive end pose // Convert grid quantization of primitives to radians, then collision checker quantization @@ -219,6 +221,7 @@ bool NodeLattice::isNodeValid( // If valid motion primitives are set, check intermediary poses > 1 cell apart if (motion_primitive) { + const float pi_2 = 2.0 * M_PI; const float & grid_resolution = motion_table.lattice_metadata.grid_resolution; const float & resolution_diag_sq = 2.0 * grid_resolution * grid_resolution; MotionPose last_pose(1e9, 1e9, 1e9), pose_dist(0.0, 0.0, 0.0); @@ -238,7 +241,13 @@ bool NodeLattice::isNodeValid( // Convert primitive pose into grid space if it should be checked prim_pose._x = initial_pose._x + (it->_x / grid_resolution); prim_pose._y = initial_pose._y + (it->_y / grid_resolution); - prim_pose._theta = it->_theta; + // If reversing, invert the angle because the robot is backing into the primitive + // not driving forward with it + if (is_backwards) { + prim_pose._theta = std::fmod(it->_theta + M_PI, pi_2); + } else { + prim_pose._theta = it->_theta; + } if (collision_checker->inCollision( prim_pose._x, prim_pose._y, @@ -292,7 +301,7 @@ float NodeLattice::getTraversalCost(const NodePtr & child) } // If backwards flag is set, this primitive is moving in reverse - if (this->isBackward()) { + if (child->isBackward()) { // reverse direction travel_cost *= motion_table.reverse_penalty; } @@ -448,6 +457,8 @@ void NodeLattice::getNeighbors( NodeVector & neighbors) { unsigned int index = 0; + float angle; + bool backwards = false; NodePtr neighbor = nullptr; Coordinates initial_node_coords, motion_projection; MotionPrimitivePtrs motion_primitives = motion_table.getMotionPrimitives(this); @@ -476,20 +487,37 @@ void NodeLattice::getNeighbors( // Cache the initial pose in case it was visited but valid // don't want to disrupt continuous coordinate expansion initial_node_coords = neighbor->pose; + // if i >= idx, then we're in a reversing primitive. In that situation, + // the orientation of the robot is mirrored from what it would otherwise + // appear to be from the motion primitives file. We want to take this into + // account in case the robot base footprint is asymmetric. + backwards = false; + angle = motion_projection.theta; + if (i >= direction_change_idx) { + backwards = true; + angle = motion_projection.theta - (motion_table.num_angle_quantization / 2); + if (angle < 0) { + angle += motion_table.num_angle_quantization; + } + if (angle > motion_table.num_angle_quantization) { + angle -= motion_table.num_angle_quantization; + } + } + neighbor->setPose( Coordinates( motion_projection.x, motion_projection.y, - motion_projection.theta)); + angle)); + // Using a special isNodeValid API here, giving the motion primitive to use to // validity check the transition of the current node to the new node over - if (neighbor->isNodeValid(traverse_unknown, collision_checker, motion_primitives[i])) { + if (neighbor->isNodeValid( + traverse_unknown, collision_checker, motion_primitives[i], backwards)) + { neighbor->setMotionPrimitive(motion_primitives[i]); - // Marking if this search was obtained in the reverse direction - if ((!this->isBackward() && i >= direction_change_idx) || - (this->isBackward() && i <= direction_change_idx)) - { + if (backwards) { neighbor->backwards(); } neighbors.push_back(neighbor); From 391be46c4bfb7720b25a8fed64315d80767e9079 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Tue, 16 Nov 2021 14:24:42 -0800 Subject: [PATCH 17/31] adding complete support, refactoring, etc --- nav2_navfn_planner/src/navfn_planner.cpp | 4 +- nav2_smac_planner/CMakeLists.txt | 3 + nav2_smac_planner/README.md | 10 +- .../include/nav2_smac_planner/a_star.hpp | 8 - .../include/nav2_smac_planner/node_2d.hpp | 7 + .../include/nav2_smac_planner/node_basic.hpp | 18 +- .../include/nav2_smac_planner/node_hybrid.hpp | 7 + .../nav2_smac_planner/node_lattice.hpp | 7 + nav2_smac_planner/src/a_star.cpp | 160 ++---------------- nav2_smac_planner/src/node_2d.cpp | 17 ++ nav2_smac_planner/src/node_hybrid.cpp | 18 ++ nav2_smac_planner/src/node_lattice.cpp | 46 +++++ nav2_smac_planner/src/smac_planner_2d.cpp | 4 +- .../src/smac_planner_lattice.cpp | 2 +- 14 files changed, 142 insertions(+), 169 deletions(-) diff --git a/nav2_navfn_planner/src/navfn_planner.cpp b/nav2_navfn_planner/src/navfn_planner.cpp index d589a8b9c9..34a85dfe52 100644 --- a/nav2_navfn_planner/src/navfn_planner.cpp +++ b/nav2_navfn_planner/src/navfn_planner.cpp @@ -39,6 +39,7 @@ #include "nav2_costmap_2d/cost_values.hpp" using namespace std::chrono_literals; +using namespace std::chrono; using nav2_util::declare_parameter_if_not_declared; using rcl_interfaces::msg::ParameterType; using std::placeholders::_1; @@ -184,8 +185,7 @@ nav_msgs::msg::Path NavfnPlanner::createPlan( #ifdef BENCHMARK_TESTING steady_clock::time_point b = steady_clock::now(); duration time_span = duration_cast>(b - a); - std::cout << "It took " << time_span.count() * 1000 << - " milliseconds with " << num_iterations << " iterations." << std::endl; + std::cout << "It took " << time_span.count() * 1000 << std::endl; #endif return path; diff --git a/nav2_smac_planner/CMakeLists.txt b/nav2_smac_planner/CMakeLists.txt index ac1787cddf..0aba534138 100644 --- a/nav2_smac_planner/CMakeLists.txt +++ b/nav2_smac_planner/CMakeLists.txt @@ -78,6 +78,7 @@ add_library(${library_name} SHARED src/node_lattice.cpp src/costmap_downsampler.cpp src/node_2d.cpp + src/node_basic.cpp ) target_link_libraries(${library_name} ${OMPL_LIBRARIES} ${OpenMP_LIBRARIES} OpenMP::OpenMP_CXX) @@ -98,6 +99,7 @@ add_library(${library_name}_2d SHARED src/node_lattice.cpp src/costmap_downsampler.cpp src/node_2d.cpp + src/node_basic.cpp ) target_link_libraries(${library_name}_2d ${OMPL_LIBRARIES}) @@ -118,6 +120,7 @@ add_library(${library_name}_lattice SHARED src/node_lattice.cpp src/costmap_downsampler.cpp src/node_2d.cpp + src/node_basic.cpp ) target_link_libraries(${library_name}_lattice ${OMPL_LIBRARIES}) diff --git a/nav2_smac_planner/README.md b/nav2_smac_planner/README.md index 18df3a817f..fa5f3b224d 100644 --- a/nav2_smac_planner/README.md +++ b/nav2_smac_planner/README.md @@ -69,11 +69,15 @@ Note: In prior releases, a CG smoother largely implementing the original Hybrid- The original Hybrid-A\* implementation boasted planning times of 50-300ms for planning across 102,400 cell maps with 72 angular bins. We see much faster results in our evaluations: - **2-20ms** for planning across 147,456 (1.4x larger) cell maps with 72 angular bins. -- **30-120ms** for planning across 344,128 (3.3x larger) cell map with 72 angular bins. +- **30-200ms** for planning across 344,128 (3.3x larger) cell map with 72 angular bins. -For example, the following path (roughly 85 meters) path took 33ms to compute. +An example of the 3 planners can be seen below, planning a roughly 75 m path. +- 2D A* computed the path in 243ms (Panel 1) +- Hybrid-A* computed the path in 144ms (Panel 2) +- State Lattice computed the path in 113ms (Panel 3) +- For reference: NavFn compute the path in 146ms, including some nasty path discontinuity artifacts -![alt text](test/path.png) +![alt text](test/3planners.png) ## Design diff --git a/nav2_smac_planner/include/nav2_smac_planner/a_star.hpp b/nav2_smac_planner/include/nav2_smac_planner/a_star.hpp index 44fd4ce72d..6383fd8236 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/a_star.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/a_star.hpp @@ -207,14 +207,6 @@ class AStarAlgorithm */ inline bool isGoal(NodePtr & node); - /** - * @brief Set the starting pose for planning, as a node index - * @param node Node pointer to the goal node to backtrace - * @param path Reference to a vector of indicies of generated path - * @return whether the path was able to be backtraced - */ - bool backtracePath(NodePtr node, CoordinateVector & path); - /** * @brief Get cost of heuristic of node * @param node Node index current diff --git a/nav2_smac_planner/include/nav2_smac_planner/node_2d.hpp b/nav2_smac_planner/include/nav2_smac_planner/node_2d.hpp index f5a43d0fef..4150deaee7 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/node_2d.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/node_2d.hpp @@ -260,6 +260,13 @@ class Node2D const bool & traverse_unknown, NodeVector & neighbors); + /** + * @brief Set the starting pose for planning, as a node index + * @param path Reference to a vector of indicies of generated path + * @return whether the path was able to be backtraced + */ + bool backtracePath(CoordinateVector & path); + Node2D * parent; static float cost_travel_multiplier; static std::vector _neighbors_grid_offsets; diff --git a/nav2_smac_planner/include/nav2_smac_planner/node_basic.hpp b/nav2_smac_planner/include/nav2_smac_planner/node_basic.hpp index f49f10d53a..407cde5c79 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/node_basic.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/node_basic.hpp @@ -56,6 +56,21 @@ class NodeBasic { } + /** + * @brief Take a NodeBasic and populate it with any necessary state + * cached in the queue for NodeT. + * @param node NodeT ptr to populate metadata into NodeBasic + */ + void populateSearchNode(NodeT * & node); + + /** + * @brief Take a NodeBasic and populate it with any necessary state + * cached in the queue for NodeTs. + * @param node Search node (basic) object to initialize internal node + * with state + */ + void processSearchNode(); + typename NodeT::Coordinates pose; // Used by NodeHybrid and NodeLattice NodeT * graph_node_ptr; MotionPrimitive * prim_ptr; // Used by NodeLattice @@ -63,9 +78,6 @@ class NodeBasic bool backward; }; -template class NodeBasic; -template class NodeBasic; -template class NodeBasic; } // namespace nav2_smac_planner #endif // NAV2_SMAC_PLANNER__NODE_BASIC_HPP_ diff --git a/nav2_smac_planner/include/nav2_smac_planner/node_hybrid.hpp b/nav2_smac_planner/include/nav2_smac_planner/node_hybrid.hpp index faffbd362c..d913f9a5dc 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/node_hybrid.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/node_hybrid.hpp @@ -417,6 +417,13 @@ class NodeHybrid const bool & traverse_unknown, NodeVector & neighbors); + /** + * @brief Set the starting pose for planning, as a node index + * @param path Reference to a vector of indicies of generated path + * @return whether the path was able to be backtraced + */ + bool backtracePath(CoordinateVector & path); + NodeHybrid * parent; Coordinates pose; diff --git a/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp b/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp index 363a322299..7be319c88a 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp @@ -398,6 +398,13 @@ class NodeLattice const bool & traverse_unknown, NodeVector & neighbors); + /** + * @brief Set the starting pose for planning, as a node index + * @param path Reference to a vector of indicies of generated path + * @return whether the path was able to be backtraced + */ + bool backtracePath(CoordinateVector & path); + NodeLattice * parent; Coordinates pose; static LatticeMotionTable motion_table; diff --git a/nav2_smac_planner/src/a_star.cpp b/nav2_smac_planner/src/a_star.cpp index 066062901b..cf52ac3d57 100644 --- a/nav2_smac_planner/src/a_star.cpp +++ b/nav2_smac_planner/src/a_star.cpp @@ -272,12 +272,12 @@ bool AStarAlgorithm::createPath( // 3) Check if we're at the goal, backtrace if required if (isGoal(current_node)) { - return backtracePath(current_node, path); + return current_node->backtracePath(path); } else if (_best_heuristic_node.first < getToleranceHeuristic()) { // Optimization: Let us find when in tolerance and refine within reason approach_iterations++; if (approach_iterations >= getOnApproachMaxIterations()) { - return backtracePath(&_graph.at(_best_heuristic_node.second), path); + return _graph.at(_best_heuristic_node.second).backtracePath(path); } } @@ -313,91 +313,6 @@ bool AStarAlgorithm::isGoal(NodePtr & node) return node == getGoal(); } -template<> -bool AStarAlgorithm::backtracePath(NodePtr node, CoordinateVector & path) -{ - if (!node->parent) { - return false; - } - - NodePtr current_node = node; - - while (current_node->parent) { - path.push_back( - Node2D::getCoords( - current_node->getIndex(), getSizeX(), getSizeDim3())); - current_node = current_node->parent; - } - - return path.size() > 0; -} - -template<> -bool AStarAlgorithm::backtracePath(NodePtr node, CoordinateVector & path) -{ - if (!node->parent) { - return false; - } - - Coordinates initial_pose, prim_pose; - NodePtr current_node = node; - MotionPrimitive * prim = nullptr; - const float & grid_resolution = NodeLattice::motion_table.lattice_metadata.grid_resolution; - const float pi_2 = 2.0 * M_PI; - - while (current_node->parent) { - prim = current_node->getMotionPrimitive(); - // if motion primitive is valid, then was searched (rather than analytically expanded), - // include dense path of subpoints making up the primitive at grid resolution - if (prim) { - initial_pose.x = current_node->pose.x - (prim->poses.back()._x / grid_resolution); - initial_pose.y = current_node->pose.y - (prim->poses.back()._y / grid_resolution); - initial_pose.theta = NodeLattice::motion_table.getAngleFromBin(prim->start_angle); - - for (auto it = prim->poses.crbegin(); it != prim->poses.crend(); ++it) { - // Convert primitive pose into grid space if it should be checked - prim_pose.x = initial_pose.x + (it->_x / grid_resolution); - prim_pose.y = initial_pose.y + (it->_y / grid_resolution); - // If reversing, invert the angle because the robot is backing into the primitive - // not driving forward with it - if (current_node->isBackward()) { - prim_pose.theta = std::fmod(it->_theta + M_PI, pi_2); - } else { - prim_pose.theta = it->_theta; - } - path.push_back(prim_pose); - } - } else { - // For analytic expansion nodes where there is no valid motion primitive - path.push_back(current_node->pose); - path.back().theta = NodeLattice::motion_table.getAngleFromBin(path.back().theta); - } - - current_node = current_node->parent; - } - - return path.size() > 0; -} - -template<> -bool AStarAlgorithm::backtracePath(NodePtr node, CoordinateVector & path) -{ - if (!node->parent) { - return false; - } - - NodePtr current_node = node; - - while (current_node->parent) { - path.push_back(current_node->pose); - // Convert angle to radians - path.back().theta = NodeHybrid::motion_table.getAngleFromBin(path.back().theta); - current_node = current_node->parent; - } - - return path.size() > 0; -} - template typename AStarAlgorithm::NodePtr & AStarAlgorithm::getStart() { @@ -410,75 +325,20 @@ typename AStarAlgorithm::NodePtr & AStarAlgorithm::getGoal() return _goal; } -template<> -typename AStarAlgorithm::NodePtr AStarAlgorithm::getNextNode() -{ - NodeBasic node = _queue.top().second; - _queue.pop(); - return node.graph_node_ptr; -} - -template<> -typename AStarAlgorithm::NodePtr AStarAlgorithm::getNextNode() -{ - NodeBasic node = _queue.top().second; - _queue.pop(); - - // We only want to override the node's pose if it has not yet been visited - // to prevent the case that a node has been queued multiple times and - // a new branch is overriding one of lower cost already visited. - if (!node.graph_node_ptr->wasVisited()) { - node.graph_node_ptr->pose = node.pose; - node.graph_node_ptr->setMotionPrimitiveIndex(node.motion_index); - } - - return node.graph_node_ptr; -} - -template<> -typename AStarAlgorithm::NodePtr AStarAlgorithm::getNextNode() +template +typename AStarAlgorithm::NodePtr AStarAlgorithm::getNextNode() { - NodeBasic node = _queue.top().second; + NodeBasic node = _queue.top().second; _queue.pop(); - - // We only want to override the node's pose/primitive if it has not yet been visited - // to prevent the case that a node has been queued multiple times and - // a new branch is overriding one of lower cost already visited. - if (!node.graph_node_ptr->wasVisited()) { - node.graph_node_ptr->pose = node.pose; - node.graph_node_ptr->setMotionPrimitive(node.prim_ptr); - node.graph_node_ptr->backwards(node.backward); - } - + node.processSearchNode(); return node.graph_node_ptr; } -template<> -void AStarAlgorithm::addNode(const float & cost, NodePtr & node) -{ - NodeBasic queued_node(node->getIndex()); - queued_node.graph_node_ptr = node; - _queue.emplace(cost, queued_node); -} - -template<> -void AStarAlgorithm::addNode(const float & cost, NodePtr & node) -{ - NodeBasic queued_node(node->getIndex()); - queued_node.pose = node->pose; - queued_node.graph_node_ptr = node; - queued_node.prim_ptr = node->getMotionPrimitive(); - queued_node.backward = node->isBackward(); - _queue.emplace(cost, queued_node); -} - -template<> -void AStarAlgorithm::addNode(const float & cost, NodePtr & node) +template +void AStarAlgorithm::addNode(const float & cost, NodePtr & node) { - NodeBasic queued_node(node->getIndex()); - queued_node.pose = node->pose; - queued_node.graph_node_ptr = node; - queued_node.motion_index = node->getMotionPrimitiveIndex(); + NodeBasic queued_node(node->getIndex()); + queued_node.populateSearchNode(node); _queue.emplace(cost, queued_node); } diff --git a/nav2_smac_planner/src/node_2d.cpp b/nav2_smac_planner/src/node_2d.cpp index a9ed0abf58..073c50076a 100644 --- a/nav2_smac_planner/src/node_2d.cpp +++ b/nav2_smac_planner/src/node_2d.cpp @@ -146,4 +146,21 @@ void Node2D::getNeighbors( } } +bool Node2D::backtracePath(CoordinateVector & path) +{ + if (!this->parent) { + return false; + } + + NodePtr current_node = this; + + while (current_node->parent) { + path.push_back( + Node2D::getCoords(current_node->getIndex())); + current_node = current_node->parent; + } + + return path.size() > 0; +} + } // namespace nav2_smac_planner diff --git a/nav2_smac_planner/src/node_hybrid.cpp b/nav2_smac_planner/src/node_hybrid.cpp index 6d71779b67..300aa3703a 100644 --- a/nav2_smac_planner/src/node_hybrid.cpp +++ b/nav2_smac_planner/src/node_hybrid.cpp @@ -647,4 +647,22 @@ void NodeHybrid::getNeighbors( } } +bool NodeHybrid::backtracePath(CoordinateVector & path) +{ + if (!this->parent) { + return false; + } + + NodePtr current_node = this; + + while (current_node->parent) { + path.push_back(current_node->pose); + // Convert angle to radians + path.back().theta = NodeHybrid::motion_table.getAngleFromBin(path.back().theta); + current_node = current_node->parent; + } + + return path.size() > 0; +} + } // namespace nav2_smac_planner diff --git a/nav2_smac_planner/src/node_lattice.cpp b/nav2_smac_planner/src/node_lattice.cpp index 3dd3c52aeb..9570104b83 100644 --- a/nav2_smac_planner/src/node_lattice.cpp +++ b/nav2_smac_planner/src/node_lattice.cpp @@ -528,4 +528,50 @@ void NodeLattice::getNeighbors( } } +bool NodeLattice::backtracePath(CoordinateVector & path) +{ + if (!this->parent) { + return false; + } + + Coordinates initial_pose, prim_pose; + NodePtr current_node = this; + MotionPrimitive * prim = nullptr; + const float & grid_resolution = NodeLattice::motion_table.lattice_metadata.grid_resolution; + const float pi_2 = 2.0 * M_PI; + + while (current_node->parent) { + prim = current_node->getMotionPrimitive(); + // if motion primitive is valid, then was searched (rather than analytically expanded), + // include dense path of subpoints making up the primitive at grid resolution + if (prim) { + initial_pose.x = current_node->pose.x - (prim->poses.back()._x / grid_resolution); + initial_pose.y = current_node->pose.y - (prim->poses.back()._y / grid_resolution); + initial_pose.theta = NodeLattice::motion_table.getAngleFromBin(prim->start_angle); + + for (auto it = prim->poses.crbegin(); it != prim->poses.crend(); ++it) { + // Convert primitive pose into grid space if it should be checked + prim_pose.x = initial_pose.x + (it->_x / grid_resolution); + prim_pose.y = initial_pose.y + (it->_y / grid_resolution); + // If reversing, invert the angle because the robot is backing into the primitive + // not driving forward with it + if (current_node->isBackward()) { + prim_pose.theta = std::fmod(it->_theta + M_PI, pi_2); + } else { + prim_pose.theta = it->_theta; + } + path.push_back(prim_pose); + } + } else { + // For analytic expansion nodes where there is no valid motion primitive + path.push_back(current_node->pose); + path.back().theta = NodeLattice::motion_table.getAngleFromBin(path.back().theta); + } + + current_node = current_node->parent; + } + + return path.size() > 0; +} + } // namespace nav2_smac_planner diff --git a/nav2_smac_planner/src/smac_planner_2d.cpp b/nav2_smac_planner/src/smac_planner_2d.cpp index db4d85fed0..feec6f527d 100644 --- a/nav2_smac_planner/src/smac_planner_2d.cpp +++ b/nav2_smac_planner/src/smac_planner_2d.cpp @@ -65,7 +65,7 @@ void SmacPlanner2D::configure( node, name + ".tolerance", rclcpp::ParameterValue(0.125)); _tolerance = static_cast(node->get_parameter(name + ".tolerance").as_double()); nav2_util::declare_parameter_if_not_declared( - node, name + ".downsample_costmap", rclcpp::ParameterValue(true)); + node, name + ".downsample_costmap", rclcpp::ParameterValue(false)); node->get_parameter(name + ".downsample_costmap", _downsample_costmap); nav2_util::declare_parameter_if_not_declared( node, name + ".downsampling_factor", rclcpp::ParameterValue(1)); @@ -88,7 +88,7 @@ void SmacPlanner2D::configure( node->get_parameter(name + ".use_final_approach_orientation", _use_final_approach_orientation); nav2_util::declare_parameter_if_not_declared( - node, name + ".max_planning_time", rclcpp::ParameterValue(1.0)); + node, name + ".max_planning_time", rclcpp::ParameterValue(2.0)); node->get_parameter(name + ".max_planning_time", _max_planning_time); nav2_util::declare_parameter_if_not_declared( diff --git a/nav2_smac_planner/src/smac_planner_lattice.cpp b/nav2_smac_planner/src/smac_planner_lattice.cpp index 6a31575bcd..fdd8f18e6d 100644 --- a/nav2_smac_planner/src/smac_planner_lattice.cpp +++ b/nav2_smac_planner/src/smac_planner_lattice.cpp @@ -74,7 +74,7 @@ void SmacPlannerLattice::configure( node, name + ".lattice_filepath", rclcpp::ParameterValue(std::string(""))); node->get_parameter(name + ".lattice_filepath", search_info.lattice_filepath); nav2_util::declare_parameter_if_not_declared( - node, name + ".cache_obstacle_heuristic", rclcpp::ParameterValue(true)); + node, name + ".cache_obstacle_heuristic", rclcpp::ParameterValue(false)); node->get_parameter(name + ".cache_obstacle_heuristic", search_info.cache_obstacle_heuristic); nav2_util::declare_parameter_if_not_declared( node, name + ".reverse_penalty", rclcpp::ParameterValue(2.0)); From 1659f1c779488647d79445577af49184d4ae3f2f Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Tue, 16 Nov 2021 14:25:27 -0800 Subject: [PATCH 18/31] adding forgotten files --- nav2_smac_planner/src/node_basic.cpp | 77 + nav2_smac_planner/test/3planners.png | Bin 0 -> 1359591 bytes nav2_smac_planner/test/config.json | 2028 ++++++++++++++++++++++++++ 3 files changed, 2105 insertions(+) create mode 100644 nav2_smac_planner/src/node_basic.cpp create mode 100644 nav2_smac_planner/test/3planners.png create mode 100644 nav2_smac_planner/test/config.json diff --git a/nav2_smac_planner/src/node_basic.cpp b/nav2_smac_planner/src/node_basic.cpp new file mode 100644 index 0000000000..7c116d64d6 --- /dev/null +++ b/nav2_smac_planner/src/node_basic.cpp @@ -0,0 +1,77 @@ +// Copyright (c) 2021, Samsung Research America +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. Reserved. + +#include "nav2_smac_planner/node_basic.hpp" + +namespace nav2_smac_planner +{ + +template +void NodeBasic::processSearchNode() +{ +} + +template<> +void NodeBasic::processSearchNode() +{ + // We only want to override the node's pose if it has not yet been visited + // to prevent the case that a node has been queued multiple times and + // a new branch is overriding one of lower cost already visited. + if (!this->graph_node_ptr->wasVisited()) { + this->graph_node_ptr->pose = this->pose; + this->graph_node_ptr->setMotionPrimitiveIndex(this->motion_index); + } +} + +template<> +void NodeBasic::processSearchNode() +{ + // We only want to override the node's pose/primitive if it has not yet been visited + // to prevent the case that a node has been queued multiple times and + // a new branch is overriding one of lower cost already visited. + if (!this->graph_node_ptr->wasVisited()) { + this->graph_node_ptr->pose = this->pose; + this->graph_node_ptr->setMotionPrimitive(this->prim_ptr); + this->graph_node_ptr->backwards(this->backward); + } +} + +template<> +void NodeBasic::populateSearchNode(Node2D * & node) +{ + this->graph_node_ptr = node; +} + +template<> +void NodeBasic::populateSearchNode(NodeHybrid * & node) +{ + this->pose = node->pose; + this->graph_node_ptr = node; + this->motion_index = node->getMotionPrimitiveIndex(); +} + +template<> +void NodeBasic::populateSearchNode(NodeLattice * & node) +{ + this->pose = node->pose; + this->graph_node_ptr = node; + this->prim_ptr = node->getMotionPrimitive(); + this->backward = node->isBackward(); +} + +template class NodeBasic; +template class NodeBasic; +template class NodeBasic; + +} // namespace nav2_smac_planner diff --git a/nav2_smac_planner/test/3planners.png b/nav2_smac_planner/test/3planners.png new file mode 100644 index 0000000000000000000000000000000000000000..3a6ef221c4dabf32d9b8c643f97c1633156f56a8 GIT binary patch literal 1359591 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zwY?cW>NO%Ch$j&9V+-;5TTKGVe;;v|X8`5ME?+(bw~XU5p@0HxG`O;*6zLfpe`*xR zpBlxrAH9#C|LcF@qy85B)^}bHe|8qZdOC%~+6HWgv8y;2i}ukHMigI&$DWwTbohT8 W-BsdlZ4aFQ0000 Date: Tue, 16 Nov 2021 14:26:04 -0800 Subject: [PATCH 19/31] adding readme updates --- nav2_smac_planner/README.md | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/nav2_smac_planner/README.md b/nav2_smac_planner/README.md index fa5f3b224d..404c899d8f 100644 --- a/nav2_smac_planner/README.md +++ b/nav2_smac_planner/README.md @@ -1,20 +1,21 @@ # Smac Planner -The SmacPlanner is a plugin for the Nav2 Planner server. It includes currently 2 distinct plugins: -- `SmacPlannerHybrid`: a highly optimized fully reconfigurable Hybrid-A* implementation supporting Dubin and Reeds-Shepp models (ackermann and car models). - - `SmacPlannerLattice`: a highly optimized fully reconfigurable State Lattice implementation supporting Differential and Omnidirectionl models. +The SmacPlanner is a plugin for the Nav2 Planner server. It includes currently 3 distinct plugins: +- `SmacPlannerHybrid`: a highly optimized fully reconfigurable Hybrid-A* implementation supporting Dubin and Reeds-Shepp models (legged, ackermann and car models). + - `SmacPlannerLattice`: a highly optimized fully reconfigurable State Lattice implementation supporting configurable minimum control sets, with provided control sets for Ackermann, Legged, Differential and Omnidirectional models. - `SmacPlanner2D`: a highly optimized fully reconfigurable grid-based A* implementation supporting Moore and Von Neumann models. It also introduces the following basic building blocks: - `CostmapDownsampler`: A library to take in a costmap object and downsample it to another resolution. -- `AStar`: A generic and highly optimized A* template library used by the planning plugins to search. Template implementations are provided for grid-A*, SE2 Hybrid-A*, and SE2 State Lattice planning. Additional template for 3D planning also could be made available. +- `AStar`: A generic and highly optimized A* template library used by the planning plugins to search. Additional template for planning also could be made available using it. - `CollisionChecker`: Collision check based on a robot's radius or footprint. -- `Smoother`: A path smoother to smooth out 2D, Hybrid-A\*, and State Lattice paths. +- `Smoother`: A simple path smoother to smooth out 2D, Hybrid-A\*, and State Lattice paths. We have users reporting using this on: - Delivery robots - Industrial robots - Vertical farming +- Solar farms ## Introduction From 1610710899fb2044c10d46d4625281ea9e5edebd Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Tue, 16 Nov 2021 14:34:02 -0800 Subject: [PATCH 20/31] adding max planning time to state lattice --- nav2_smac_planner/src/smac_planner_lattice.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/nav2_smac_planner/src/smac_planner_lattice.cpp b/nav2_smac_planner/src/smac_planner_lattice.cpp index fdd8f18e6d..7604d0d5f8 100644 --- a/nav2_smac_planner/src/smac_planner_lattice.cpp +++ b/nav2_smac_planner/src/smac_planner_lattice.cpp @@ -149,6 +149,7 @@ void SmacPlannerLattice::configure( allow_unknown, max_iterations, std::numeric_limits::max(), + _max_planning_time, lookup_table_dim, _metadata.number_of_headings); From ac46c0289108379761bb1b7859115b886fc5d77f Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Tue, 16 Nov 2021 15:04:40 -0800 Subject: [PATCH 21/31] adding dynamic parameters --- .../nav2_smac_planner/smac_planner_2d.hpp | 2 +- .../nav2_smac_planner/smac_planner_hybrid.hpp | 2 +- .../smac_planner_lattice.hpp | 18 ++ nav2_smac_planner/src/smac_planner_2d.cpp | 4 +- nav2_smac_planner/src/smac_planner_hybrid.cpp | 4 +- .../src/smac_planner_lattice.cpp | 192 +++++++++++++++--- 6 files changed, 188 insertions(+), 34 deletions(-) diff --git a/nav2_smac_planner/include/nav2_smac_planner/smac_planner_2d.hpp b/nav2_smac_planner/include/nav2_smac_planner/smac_planner_2d.hpp index 2da3122aaa..c499d0796f 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/smac_planner_2d.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/smac_planner_2d.hpp @@ -120,7 +120,7 @@ class SmacPlanner2D : public nav2_core::GlobalPlanner rclcpp_lifecycle::LifecycleNode::WeakPtr _node; // Dynamic parameters handler - rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr dyn_params_handler_; + rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr _dyn_params_handler; }; } // namespace nav2_smac_planner diff --git a/nav2_smac_planner/include/nav2_smac_planner/smac_planner_hybrid.hpp b/nav2_smac_planner/include/nav2_smac_planner/smac_planner_hybrid.hpp index 027ff66b2e..4395db12e2 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/smac_planner_hybrid.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/smac_planner_hybrid.hpp @@ -121,7 +121,7 @@ class SmacPlannerHybrid : public nav2_core::GlobalPlanner rclcpp_lifecycle::LifecycleNode::WeakPtr _node; // Dynamic parameters handler - rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr dyn_params_handler_; + rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr _dyn_params_handler; }; } // namespace nav2_smac_planner diff --git a/nav2_smac_planner/include/nav2_smac_planner/smac_planner_lattice.hpp b/nav2_smac_planner/include/nav2_smac_planner/smac_planner_lattice.hpp index ec5accf0c3..c34204b18e 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/smac_planner_lattice.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/smac_planner_lattice.hpp @@ -86,17 +86,35 @@ class SmacPlannerLattice : public nav2_core::GlobalPlanner const geometry_msgs::msg::PoseStamped & goal) override; protected: + /** + * @brief Callback executed when a paramter change is detected + * @param parameters list of changed parameters + */ + rcl_interfaces::msg::SetParametersResult + dynamicParametersCallback(std::vector parameters); + std::unique_ptr> _a_star; GridCollisionChecker _collision_checker; std::unique_ptr _smoother; rclcpp::Clock::SharedPtr _clock; rclcpp::Logger _logger{rclcpp::get_logger("SmacPlannerLattice")}; nav2_costmap_2d::Costmap2D * _costmap; + std::shared_ptr _costmap_ros; + MotionModel _motion_model; LatticeMetadata _metadata; std::string _global_frame, _name; + SearchInfo _search_info; + bool _allow_unknown; + int _max_iterations; float _tolerance; rclcpp_lifecycle::LifecyclePublisher::SharedPtr _raw_plan_publisher; double _max_planning_time; + double _lookup_table_size; + std::mutex _mutex; + rclcpp_lifecycle::LifecycleNode::WeakPtr _node; + + // Dynamic parameters handler + rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr _dyn_params_handler; }; } // namespace nav2_smac_planner diff --git a/nav2_smac_planner/src/smac_planner_2d.cpp b/nav2_smac_planner/src/smac_planner_2d.cpp index 626a94e07c..861fd08e75 100644 --- a/nav2_smac_planner/src/smac_planner_2d.cpp +++ b/nav2_smac_planner/src/smac_planner_2d.cpp @@ -170,7 +170,7 @@ void SmacPlanner2D::activate() } auto node = _node.lock(); // Add callback for dynamic parameters - dyn_params_handler_ = node->add_on_set_parameters_callback( + _dyn_params_handler = node->add_on_set_parameters_callback( std::bind(&SmacPlanner2D::dynamicParametersCallback, this, _1)); } @@ -183,7 +183,7 @@ void SmacPlanner2D::deactivate() if (_costmap_downsampler) { _costmap_downsampler->on_deactivate(); } - dyn_params_handler_.reset(); + _dyn_params_handler.reset(); } void SmacPlanner2D::cleanup() diff --git a/nav2_smac_planner/src/smac_planner_hybrid.cpp b/nav2_smac_planner/src/smac_planner_hybrid.cpp index 6dce153127..5c53631815 100644 --- a/nav2_smac_planner/src/smac_planner_hybrid.cpp +++ b/nav2_smac_planner/src/smac_planner_hybrid.cpp @@ -205,7 +205,7 @@ void SmacPlannerHybrid::activate() } auto node = _node.lock(); // Add callback for dynamic parameters - dyn_params_handler_ = node->add_on_set_parameters_callback( + _dyn_params_handler = node->add_on_set_parameters_callback( std::bind(&SmacPlannerHybrid::dynamicParametersCallback, this, _1)); } @@ -218,7 +218,7 @@ void SmacPlannerHybrid::deactivate() if (_costmap_downsampler) { _costmap_downsampler->on_deactivate(); } - dyn_params_handler_.reset(); + _dyn_params_handler.reset(); } void SmacPlannerHybrid::cleanup() diff --git a/nav2_smac_planner/src/smac_planner_lattice.cpp b/nav2_smac_planner/src/smac_planner_lattice.cpp index 7604d0d5f8..0e8f8ae174 100644 --- a/nav2_smac_planner/src/smac_planner_lattice.cpp +++ b/nav2_smac_planner/src/smac_planner_lattice.cpp @@ -27,6 +27,7 @@ namespace nav2_smac_planner { using namespace std::chrono; // NOLINT +using rcl_interfaces::msg::ParameterType; SmacPlannerLattice::SmacPlannerLattice() : _a_star(nullptr), @@ -48,74 +49,71 @@ void SmacPlannerLattice::configure( std::string name, std::shared_ptr/*tf*/, std::shared_ptr costmap_ros) { + _node = parent; auto node = parent.lock(); _logger = node->get_logger(); _clock = node->get_clock(); _costmap = costmap_ros->getCostmap(); + _costmap_ros = costmap_ros; _name = name; _global_frame = costmap_ros->getGlobalFrameID(); RCLCPP_INFO(_logger, "Configuring %s of type SmacPlannerLattice", name.c_str()); - bool allow_unknown; - int max_iterations; - double lookup_table_size; - SearchInfo search_info; - // General planner params nav2_util::declare_parameter_if_not_declared( node, name + ".allow_unknown", rclcpp::ParameterValue(true)); - node->get_parameter(name + ".allow_unknown", allow_unknown); + node->get_parameter(name + ".allow_unknown", _allow_unknown); nav2_util::declare_parameter_if_not_declared( node, name + ".max_iterations", rclcpp::ParameterValue(1000000)); - node->get_parameter(name + ".max_iterations", max_iterations); + node->get_parameter(name + ".max_iterations", _max_iterations); nav2_util::declare_parameter_if_not_declared( node, name + ".lattice_filepath", rclcpp::ParameterValue(std::string(""))); - node->get_parameter(name + ".lattice_filepath", search_info.lattice_filepath); + node->get_parameter(name + ".lattice_filepath", _search_info.lattice_filepath); nav2_util::declare_parameter_if_not_declared( node, name + ".cache_obstacle_heuristic", rclcpp::ParameterValue(false)); - node->get_parameter(name + ".cache_obstacle_heuristic", search_info.cache_obstacle_heuristic); + node->get_parameter(name + ".cache_obstacle_heuristic", _search_info.cache_obstacle_heuristic); nav2_util::declare_parameter_if_not_declared( node, name + ".reverse_penalty", rclcpp::ParameterValue(2.0)); - node->get_parameter(name + ".reverse_penalty", search_info.reverse_penalty); + node->get_parameter(name + ".reverse_penalty", _search_info.reverse_penalty); nav2_util::declare_parameter_if_not_declared( node, name + ".change_penalty", rclcpp::ParameterValue(0.05)); - node->get_parameter(name + ".change_penalty", search_info.change_penalty); + node->get_parameter(name + ".change_penalty", _search_info.change_penalty); nav2_util::declare_parameter_if_not_declared( node, name + ".non_straight_penalty", rclcpp::ParameterValue(1.05)); - node->get_parameter(name + ".non_straight_penalty", search_info.non_straight_penalty); + node->get_parameter(name + ".non_straight_penalty", _search_info.non_straight_penalty); nav2_util::declare_parameter_if_not_declared( node, name + ".cost_penalty", rclcpp::ParameterValue(2.0)); - node->get_parameter(name + ".cost_penalty", search_info.cost_penalty); + node->get_parameter(name + ".cost_penalty", _search_info.cost_penalty); nav2_util::declare_parameter_if_not_declared( node, name + ".analytic_expansion_ratio", rclcpp::ParameterValue(3.5)); - node->get_parameter(name + ".analytic_expansion_ratio", search_info.analytic_expansion_ratio); + node->get_parameter(name + ".analytic_expansion_ratio", _search_info.analytic_expansion_ratio); nav2_util::declare_parameter_if_not_declared( node, name + ".max_planning_time", rclcpp::ParameterValue(5.0)); node->get_parameter(name + ".max_planning_time", _max_planning_time); nav2_util::declare_parameter_if_not_declared( node, name + ".lookup_table_size", rclcpp::ParameterValue(20.0)); - node->get_parameter(name + ".lookup_table_size", lookup_table_size); + node->get_parameter(name + ".lookup_table_size", _lookup_table_size); nav2_util::declare_parameter_if_not_declared( node, name + ".allow_reverse_expansion", rclcpp::ParameterValue(false)); - node->get_parameter(name + ".allow_reverse_expansion", search_info.allow_reverse_expansion); + node->get_parameter(name + ".allow_reverse_expansion", _search_info.allow_reverse_expansion); - _metadata = LatticeMotionTable::getLatticeMetadata(search_info.lattice_filepath); - search_info.minimum_turning_radius = + _metadata = LatticeMotionTable::getLatticeMetadata(_search_info.lattice_filepath); + _search_info.minimum_turning_radius = _metadata.min_turning_radius / (_costmap->getResolution()); - MotionModel motion_model = MotionModel::STATE_LATTICE; + _motion_model = MotionModel::STATE_LATTICE; - if (max_iterations <= 0) { + if (_max_iterations <= 0) { RCLCPP_INFO( _logger, "maximum iteration selected as <= 0, " "disabling maximum iterations."); - max_iterations = std::numeric_limits::max(); + _max_iterations = std::numeric_limits::max(); } float lookup_table_dim = - static_cast(lookup_table_size) / + static_cast(_lookup_table_size) / static_cast(_costmap->getResolution()); // Make sure its a whole number @@ -144,10 +142,10 @@ void SmacPlannerLattice::configure( findCircumscribedCost(costmap_ros)); // Initialize A* template - _a_star = std::make_unique>(motion_model, search_info); + _a_star = std::make_unique>(_motion_model, _search_info); _a_star->initialize( - allow_unknown, - max_iterations, + _allow_unknown, + _max_iterations, std::numeric_limits::max(), _max_planning_time, lookup_table_dim, @@ -165,9 +163,9 @@ void SmacPlannerLattice::configure( _logger, "Configured plugin %s of type SmacPlannerLattice with " "maximum iterations %i, " "and %s. Using motion model: %s. State lattice file: %s.", - _name.c_str(), max_iterations, - allow_unknown ? "allowing unknown traversal" : "not allowing unknown traversal", - toString(motion_model).c_str(), search_info.lattice_filepath.c_str()); + _name.c_str(), _max_iterations, + _allow_unknown ? "allowing unknown traversal" : "not allowing unknown traversal", + toString(_motion_model).c_str(), _search_info.lattice_filepath.c_str()); } void SmacPlannerLattice::activate() @@ -176,6 +174,10 @@ void SmacPlannerLattice::activate() _logger, "Activating plugin %s of type SmacPlannerLattice", _name.c_str()); _raw_plan_publisher->on_activate(); + auto node = _node.lock(); + // Add callback for dynamic parameters + _dyn_params_handler = node->add_on_set_parameters_callback( + std::bind(&SmacPlannerLattice::dynamicParametersCallback, this, std::placeholders::_1)); } void SmacPlannerLattice::deactivate() @@ -184,6 +186,7 @@ void SmacPlannerLattice::deactivate() _logger, "Deactivating plugin %s of type SmacPlannerLattice", _name.c_str()); _raw_plan_publisher->on_deactivate(); + _dyn_params_handler.reset(); } void SmacPlannerLattice::cleanup() @@ -200,6 +203,7 @@ nav_msgs::msg::Path SmacPlannerLattice::createPlan( const geometry_msgs::msg::PoseStamped & start, const geometry_msgs::msg::PoseStamped & goal) { + std::lock_guard lock_reinit(_mutex); steady_clock::time_point a = steady_clock::now(); std::unique_lock lock(*(_costmap->getMutex())); @@ -295,6 +299,138 @@ nav_msgs::msg::Path SmacPlannerLattice::createPlan( return plan; } +rcl_interfaces::msg::SetParametersResult +SmacPlannerLattice::dynamicParametersCallback(std::vector parameters) +{ + rcl_interfaces::msg::SetParametersResult result; + std::lock_guard lock_reinit(_mutex); + + bool reinit_collision_checker = false; + bool reinit_a_star = false; + bool reinit_smoother = false; + + for (auto parameter : parameters) { + const auto & type = parameter.get_type(); + const auto & name = parameter.get_name(); + + if (type == ParameterType::PARAMETER_DOUBLE) { + if (name == _name + ".max_planning_time") { + reinit_a_star = true; + _max_planning_time = parameter.as_double(); + } else if (name == _name + ".lookup_table_size") { + reinit_a_star = true; + _lookup_table_size = parameter.as_double(); + } else if (name == _name + ".minimum_turning_radius") { + reinit_a_star = true; + reinit_smoother = true; + _search_info.minimum_turning_radius = static_cast(parameter.as_double()); + } else if (name == _name + ".reverse_penalty") { + reinit_a_star = true; + _search_info.reverse_penalty = static_cast(parameter.as_double()); + } else if (name == _name + ".change_penalty") { + reinit_a_star = true; + _search_info.change_penalty = static_cast(parameter.as_double()); + } else if (name == _name + ".non_straight_penalty") { + reinit_a_star = true; + _search_info.non_straight_penalty = static_cast(parameter.as_double()); + } else if (name == _name + ".cost_penalty") { + reinit_a_star = true; + _search_info.cost_penalty = static_cast(parameter.as_double()); + } else if (name == _name + ".analytic_expansion_ratio") { + reinit_a_star = true; + _search_info.analytic_expansion_ratio = static_cast(parameter.as_double()); + } + } else if (type == ParameterType::PARAMETER_BOOL) { + if (name == _name + ".allow_unknown") { + reinit_a_star = true; + _allow_unknown = parameter.as_bool(); + } else if (name == _name + ".cache_obstacle_heuristic") { + reinit_a_star = true; + _search_info.cache_obstacle_heuristic = parameter.as_bool(); + } else if (name == _name + ".allow_reverse_expansion") { + reinit_a_star = true; + _search_info.allow_reverse_expansion = parameter.as_bool(); + } + } else if (type == ParameterType::PARAMETER_INTEGER) { + if (name == _name + ".max_iterations") { + reinit_a_star = true; + _max_iterations = parameter.as_int(); + if (_max_iterations <= 0) { + RCLCPP_INFO( + _logger, "maximum iteration selected as <= 0, " + "disabling maximum iterations."); + _max_iterations = std::numeric_limits::max(); + } + } + } else if (type == ParameterType::PARAMETER_STRING) { + if (name == _name + ".lattice_filepath") { + reinit_a_star = true; + reinit_smoother = true; + _search_info.lattice_filepath = parameter.as_string(); + _metadata = LatticeMotionTable::getLatticeMetadata(_search_info.lattice_filepath); + _search_info.minimum_turning_radius = + _metadata.min_turning_radius / (_costmap->getResolution()); + } + } + } + + // Re-init if needed with mutex lock (to avoid re-init while creating a plan) + if (reinit_a_star || reinit_collision_checker || reinit_smoother) { + // convert to grid coordinates + const double minimum_turning_radius_global_coords = _search_info.minimum_turning_radius; + _search_info.minimum_turning_radius = + _search_info.minimum_turning_radius / (_costmap->getResolution()); + float lookup_table_dim = + static_cast(_lookup_table_size) / + static_cast(_costmap->getResolution()); + + // Make sure its a whole number + lookup_table_dim = static_cast(static_cast(lookup_table_dim)); + + // Make sure its an odd number + if (static_cast(lookup_table_dim) % 2 == 0) { + RCLCPP_INFO( + _logger, + "Even sized heuristic lookup table size set %f, increasing size by 1 to make odd", + lookup_table_dim); + lookup_table_dim += 1.0; + } + + // Re-Initialize A* template + if (reinit_a_star) { + _a_star = std::make_unique>(_motion_model, _search_info); + _a_star->initialize( + _allow_unknown, + _max_iterations, + std::numeric_limits::max(), + _max_planning_time, + lookup_table_dim, + _metadata.number_of_headings); + } + + // Re-Initialize collision checker + if (reinit_collision_checker) { + _collision_checker = GridCollisionChecker(_costmap, 72u); + _collision_checker.setFootprint( + _costmap_ros->getRobotFootprint(), + _costmap_ros->getUseRadius(), + findCircumscribedCost(_costmap_ros)); + } + + // Re-Initialize smoother + if (reinit_smoother) { + auto node = _node.lock(); + SmootherParams params; + params.get(node, _name); + _smoother = std::make_unique(params); + _smoother->initialize(_metadata.min_turning_radius); + } + } + + result.successful = true; + return result; +} + } // namespace nav2_smac_planner #include "pluginlib/class_list_macros.hpp" From 6bde2505db56738b51053418d8a7d8e73f79e70d Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Tue, 16 Nov 2021 15:09:23 -0800 Subject: [PATCH 22/31] removing extra config file --- nav2_smac_planner/test/config.json | 2028 ---------------------------- 1 file changed, 2028 deletions(-) delete mode 100644 nav2_smac_planner/test/config.json diff --git a/nav2_smac_planner/test/config.json b/nav2_smac_planner/test/config.json deleted file mode 100644 index 05cbd11aca..0000000000 --- a/nav2_smac_planner/test/config.json +++ /dev/null @@ -1,2028 +0,0 @@ -{ - "version": 1.0, - "date_generated": "2021-10-28", - "lattice_metadata": { - "motion_model": "ackermann", - "turning_radius": 0.5, - "grid_resolution": 0.05, - "stopping_threshold": 5, - "num_of_headings": 16, - "heading_angles": [ - 0.0, - 0.4636476090008061, - 0.7853981633974483, - 1.1071487177940904, - 1.5707963267948966, - 2.0344439357957027, - 2.356194490192345, - 2.677945044588987, - 3.141592653589793, - 3.6052402625905993, - 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-0.4636476090008061 - ] - ] - }, - { - "trajectory_id": 47, - "start_angle_index": 15, - "end_angle_index": 0, - "left_turn": true, - "trajectory_radius": 0.6354, - "trajectory_length": 0.36821, - "arc_length": 0.2946, - "straight_length": 0.07361, - "poses": [ - [ - 0.0, - 0.0, - -0.4636476090008061 - ], - [ - 0.06584, - -0.03292, - -0.4636476090008061 - ], - [ - 0.06584, - -0.03292, - -0.46364760900080615 - ], - [ - 0.11969, - -0.05679, - -0.370918087200645 - ], - [ - 0.17551, - -0.07557, - -0.27818856540048387 - ], - [ - 0.23283, - -0.0891, - -0.18545904360032228 - ], - [ - 0.29116, - -0.09727, - -0.09272952180016114 - ], - [ - 0.35, - -0.1, - 0.0 - ] - ] - } - ] -} \ No newline at end of file From 49b059bb989f00c9977a366cd8a1d75d3e9bfd6d Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Tue, 16 Nov 2021 16:36:30 -0800 Subject: [PATCH 23/31] fix linting --- nav2_navfn_planner/src/navfn_planner.cpp | 2 +- nav2_smac_planner/src/node_lattice.cpp | 5 +++-- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/nav2_navfn_planner/src/navfn_planner.cpp b/nav2_navfn_planner/src/navfn_planner.cpp index d07f70e2cf..2ede7f38b8 100644 --- a/nav2_navfn_planner/src/navfn_planner.cpp +++ b/nav2_navfn_planner/src/navfn_planner.cpp @@ -39,7 +39,7 @@ #include "nav2_costmap_2d/cost_values.hpp" using namespace std::chrono_literals; -using namespace std::chrono; +using namespace std::chrono; // NOLINT using nav2_util::declare_parameter_if_not_declared; using rcl_interfaces::msg::ParameterType; using std::placeholders::_1; diff --git a/nav2_smac_planner/src/node_lattice.cpp b/nav2_smac_planner/src/node_lattice.cpp index 9570104b83..3840b34c4f 100644 --- a/nav2_smac_planner/src/node_lattice.cpp +++ b/nav2_smac_planner/src/node_lattice.cpp @@ -419,7 +419,8 @@ void NodeLattice::precomputeDistanceHeuristic( motion_table.state_space = std::make_unique( search_info.minimum_turning_radius); } - motion_table.lattice_metadata = LatticeMotionTable::getLatticeMetadata(search_info.lattice_filepath); + motion_table.lattice_metadata = + LatticeMotionTable::getLatticeMetadata(search_info.lattice_filepath); ompl::base::ScopedState<> from(motion_table.state_space), to(motion_table.state_space); to[0] = 0.0; @@ -513,7 +514,7 @@ void NodeLattice::getNeighbors( // Using a special isNodeValid API here, giving the motion primitive to use to // validity check the transition of the current node to the new node over if (neighbor->isNodeValid( - traverse_unknown, collision_checker, motion_primitives[i], backwards)) + traverse_unknown, collision_checker, motion_primitives[i], backwards)) { neighbor->setMotionPrimitive(motion_primitives[i]); // Marking if this search was obtained in the reverse direction From f364aff71f87649ef9b27f5bbfd0286d0fc922d5 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Tue, 16 Nov 2021 16:37:48 -0800 Subject: [PATCH 24/31] updating test --- nav2_smac_planner/test/test_a_star.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/nav2_smac_planner/test/test_a_star.cpp b/nav2_smac_planner/test/test_a_star.cpp index e4d4fd7bda..865bae0050 100644 --- a/nav2_smac_planner/test/test_a_star.cpp +++ b/nav2_smac_planner/test/test_a_star.cpp @@ -157,7 +157,7 @@ TEST(AStarTest, test_a_star_se2) EXPECT_TRUE(a_star.createPath(path, num_it, tolerance)); // check path is the right size and collision free - EXPECT_EQ(num_it, 351); + EXPECT_EQ(num_it, 352); EXPECT_EQ(path.size(), 73u); for (unsigned int i = 0; i != path.size(); i++) { EXPECT_EQ(costmapA->getCost(path[i].x, path[i].y), 0); From be1993b68d4d9975777e00766f37c8eeff8d6c3d Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Tue, 16 Nov 2021 17:25:49 -0800 Subject: [PATCH 25/31] adding several unit tests --- nav2_smac_planner/src/analytic_expansion.cpp | 1 - .../src/smac_planner_lattice.cpp | 34 ++--- nav2_smac_planner/test/CMakeLists.txt | 11 ++ nav2_smac_planner/test/test_nodelattice.cpp | 50 ++++++++ nav2_smac_planner/test/test_smac_lattice.cpp | 118 ++++++++++++++++++ 5 files changed, 189 insertions(+), 25 deletions(-) create mode 100644 nav2_smac_planner/test/test_smac_lattice.cpp diff --git a/nav2_smac_planner/src/analytic_expansion.cpp b/nav2_smac_planner/src/analytic_expansion.cpp index f22acc12a7..eff51c7bd9 100644 --- a/nav2_smac_planner/src/analytic_expansion.cpp +++ b/nav2_smac_planner/src/analytic_expansion.cpp @@ -239,7 +239,6 @@ void AnalyticExpansion::cleanNode(const NodePtr & node) template void AnalyticExpansion::cleanNode(const NodePtr & /*expanded_nodes*/) { - return; } template<> diff --git a/nav2_smac_planner/src/smac_planner_lattice.cpp b/nav2_smac_planner/src/smac_planner_lattice.cpp index 0e8f8ae174..7544f023df 100644 --- a/nav2_smac_planner/src/smac_planner_lattice.cpp +++ b/nav2_smac_planner/src/smac_planner_lattice.cpp @@ -305,7 +305,6 @@ SmacPlannerLattice::dynamicParametersCallback(std::vector par rcl_interfaces::msg::SetParametersResult result; std::lock_guard lock_reinit(_mutex); - bool reinit_collision_checker = false; bool reinit_a_star = false; bool reinit_smoother = false; @@ -320,10 +319,6 @@ SmacPlannerLattice::dynamicParametersCallback(std::vector par } else if (name == _name + ".lookup_table_size") { reinit_a_star = true; _lookup_table_size = parameter.as_double(); - } else if (name == _name + ".minimum_turning_radius") { - reinit_a_star = true; - reinit_smoother = true; - _search_info.minimum_turning_radius = static_cast(parameter.as_double()); } else if (name == _name + ".reverse_penalty") { reinit_a_star = true; _search_info.reverse_penalty = static_cast(parameter.as_double()); @@ -375,7 +370,7 @@ SmacPlannerLattice::dynamicParametersCallback(std::vector par } // Re-init if needed with mutex lock (to avoid re-init while creating a plan) - if (reinit_a_star || reinit_collision_checker || reinit_smoother) { + if (reinit_a_star || reinit_smoother) { // convert to grid coordinates const double minimum_turning_radius_global_coords = _search_info.minimum_turning_radius; _search_info.minimum_turning_radius = @@ -396,6 +391,15 @@ SmacPlannerLattice::dynamicParametersCallback(std::vector par lookup_table_dim += 1.0; } + // Re-Initialize smoother + if (reinit_smoother) { + auto node = _node.lock(); + SmootherParams params; + params.get(node, _name); + _smoother = std::make_unique(params); + _smoother->initialize(_metadata.min_turning_radius); + } + // Re-Initialize A* template if (reinit_a_star) { _a_star = std::make_unique>(_motion_model, _search_info); @@ -407,24 +411,6 @@ SmacPlannerLattice::dynamicParametersCallback(std::vector par lookup_table_dim, _metadata.number_of_headings); } - - // Re-Initialize collision checker - if (reinit_collision_checker) { - _collision_checker = GridCollisionChecker(_costmap, 72u); - _collision_checker.setFootprint( - _costmap_ros->getRobotFootprint(), - _costmap_ros->getUseRadius(), - findCircumscribedCost(_costmap_ros)); - } - - // Re-Initialize smoother - if (reinit_smoother) { - auto node = _node.lock(); - SmootherParams params; - params.get(node, _name); - _smoother = std::make_unique(params); - _smoother->initialize(_metadata.min_turning_radius); - } } result.successful = true; diff --git a/nav2_smac_planner/test/CMakeLists.txt b/nav2_smac_planner/test/CMakeLists.txt index 609b0b4174..0b04e2580b 100644 --- a/nav2_smac_planner/test/CMakeLists.txt +++ b/nav2_smac_planner/test/CMakeLists.txt @@ -86,6 +86,17 @@ target_link_libraries(test_smac_2d ${library_name}_2d ) +# Test SMAC lattice +ament_add_gtest(test_smac_lattice + test_smac_lattice.cpp +) +ament_target_dependencies(test_smac_lattice + ${dependencies} +) +target_link_libraries(test_smac_lattice + ${library_name}_lattice +) + #Test Lattice node ament_add_gtest(test_lattice_node test_nodelattice.cpp) diff --git a/nav2_smac_planner/test/test_nodelattice.cpp b/nav2_smac_planner/test/test_nodelattice.cpp index 2b2f546117..3c652a075e 100644 --- a/nav2_smac_planner/test/test_nodelattice.cpp +++ b/nav2_smac_planner/test/test_nodelattice.cpp @@ -17,6 +17,7 @@ #include #include #include +#include #include #include "nav2_smac_planner/node_lattice.hpp" #include "gtest/gtest.h" @@ -93,6 +94,7 @@ TEST(NodeLatticeTest, test_node_lattice_neighbors_and_parsing) info.analytic_expansion_ratio = 1; info.lattice_filepath = filePath; info.cache_obstacle_heuristic = true; + info.allow_reverse_expansion = false; unsigned int x = 100; unsigned int y = 100; @@ -163,6 +165,7 @@ TEST(NodeLatticeTest, test_node_lattice) info.analytic_expansion_ratio = 1; info.lattice_filepath = filePath; info.cache_obstacle_heuristic = true; + info.allow_reverse_expansion = true; unsigned int x = 100; unsigned int y = 100; @@ -219,3 +222,50 @@ TEST(NodeLatticeTest, test_node_lattice) delete costmapA; } + + +TEST(NodeLatticeTest, test_get_neighbors) +{ + std::string pkg_share_dir = ament_index_cpp::get_package_share_directory("nav2_smac_planner"); + std::string filePath = pkg_share_dir + "/output.json"; + + nav2_smac_planner::SearchInfo info; + info.minimum_turning_radius = 1.1; + info.non_straight_penalty = 1; + info.change_penalty = 1; + info.reverse_penalty = 1; + info.cost_penalty = 1; + info.analytic_expansion_ratio = 1; + info.lattice_filepath = filePath; + info.cache_obstacle_heuristic = true; + info.allow_reverse_expansion = true; + + unsigned int x = 100; + unsigned int y = 100; + unsigned int angle_quantization = 16; + + nav2_smac_planner::NodeLattice::initMotionModel( + nav2_smac_planner::MotionModel::STATE_LATTICE, x, y, angle_quantization, info); + + nav2_smac_planner::NodeLattice node(49); + + nav2_costmap_2d::Costmap2D * costmapA = new nav2_costmap_2d::Costmap2D( + 10, 10, 0.05, 0.0, 0.0, 0); + std::unique_ptr checker = + std::make_unique(costmapA, 72); + checker->setFootprint(nav2_costmap_2d::Footprint(), true, 0.0); + + std::function neighborGetter = + [&, this](const unsigned int & index, nav2_smac_planner::NodeLattice * & neighbor_rtn) -> bool + { + // because we don't return a real object + return false; + }; + + nav2_smac_planner::NodeLattice::NodeVector neighbors; + node.getNeighbors(neighborGetter, checker.get(), false, neighbors); + // should be empty since totally invalid + EXPECT_EQ(neighbors.size(), 0u); + + delete costmapA; +} diff --git a/nav2_smac_planner/test/test_smac_lattice.cpp b/nav2_smac_planner/test/test_smac_lattice.cpp new file mode 100644 index 0000000000..1777c293f1 --- /dev/null +++ b/nav2_smac_planner/test/test_smac_lattice.cpp @@ -0,0 +1,118 @@ +// Copyright (c) 2021 Samsung Research America +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. Reserved. + +#include +#include +#include +#include + +#include "gtest/gtest.h" +#include "rclcpp/rclcpp.hpp" +#include "nav2_costmap_2d/costmap_2d.hpp" +#include "nav2_costmap_2d/costmap_subscriber.hpp" +#include "nav2_util/lifecycle_node.hpp" +#include "geometry_msgs/msg/pose_stamped.hpp" +#include "nav2_smac_planner/node_hybrid.hpp" +#include "nav2_smac_planner/a_star.hpp" +#include "nav2_smac_planner/collision_checker.hpp" +#include "nav2_smac_planner/smac_planner_lattice.hpp" + +class RclCppFixture +{ +public: + RclCppFixture() {rclcpp::init(0, nullptr);} + ~RclCppFixture() {rclcpp::shutdown();} +}; +RclCppFixture g_rclcppfixture; + +// SMAC smoke tests for plugin-level issues rather than algorithms +// (covered by more extensively testing in other files) +// System tests in nav2_system_tests will actually plan with this work + +TEST(SmacTest, test_smac_lattice) +{ + rclcpp_lifecycle::LifecycleNode::SharedPtr nodeLattice = + std::make_shared("SmacLatticeTest"); + + std::shared_ptr costmap_ros = + std::make_shared("global_costmap"); + costmap_ros->on_configure(rclcpp_lifecycle::State()); + + geometry_msgs::msg::PoseStamped start, goal; + start.pose.position.x = 0.0; + start.pose.position.y = 0.0; + start.pose.orientation.w = 1.0; + goal.pose.position.x = 1.0; + goal.pose.position.y = 1.0; + goal.pose.orientation.w = 1.0; + auto planner = std::make_unique(); + planner->configure(nodeLattice, "test", nullptr, costmap_ros); + planner->activate(); + + try { + planner->createPlan(start, goal); + } catch (...) { + } + + planner->deactivate(); + planner->cleanup(); + + planner.reset(); + costmap_ros->on_cleanup(rclcpp_lifecycle::State()); + costmap_ros.reset(); + nodeLattice.reset(); +} + +TEST(SmacTest, test_smac_lattice_reconfigure) +{ + rclcpp_lifecycle::LifecycleNode::SharedPtr nodeLattice = + std::make_shared("SmacLatticeTest"); + + std::shared_ptr costmap_ros = + std::make_shared("global_costmap"); + costmap_ros->on_configure(rclcpp_lifecycle::State()); + + auto planner = std::make_unique(); + planner->configure(nodeLattice, "test", nullptr, costmap_ros); + planner->activate(); + + auto rec_param = std::make_shared( + nodeLattice->get_node_base_interface(), nodeLattice->get_node_topics_interface(), + nodeLattice->get_node_graph_interface(), + nodeLattice->get_node_services_interface()); + + auto results = rec_param->set_parameters_atomically( + {rclcpp::Parameter("test.allow_unknown", false), + rclcpp::Parameter("test.max_iterations", -1), + rclcpp::Parameter("test.cache_obstacle_heuristic", true), + rclcpp::Parameter("test.reverse_penalty", 5.0), + rclcpp::Parameter("test.change_penalty", 1.0), + rclcpp::Parameter("test.non_straight_penalty", 2.0), + rclcpp::Parameter("test.cost_penalty", 2.0), + rclcpp::Parameter("test.analytic_expansion_ratio", 4.0), + rclcpp::Parameter("test.max_planning_time", 10.0), + rclcpp::Parameter("test.lookup_table_size", 30.0), + rclcpp::Parameter("test.lattice_filepath", std::string("HI")), + rclcpp::Parameter("test.allow_reverse_expansion", true)}); + + try { + // All of these params will re-init A* which will involve loading the control set file + // which will cause an exception because the file does not exist. This will cause an + // expected failure preventing parameter updates from being successfully processed + rclcpp::spin_until_future_complete( + nodeLattice->get_node_base_interface(), + results); + } catch (...) { + } +} From d841fc89c4e0c46a47e7457268c618fc646c5246 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Tue, 16 Nov 2021 17:44:23 -0800 Subject: [PATCH 26/31] adding system test --- nav2_smac_planner/test/test_a_star.cpp | 56 ++++++++++++++++++++++++++ 1 file changed, 56 insertions(+) diff --git a/nav2_smac_planner/test/test_a_star.cpp b/nav2_smac_planner/test/test_a_star.cpp index 865bae0050..fb5ecda287 100644 --- a/nav2_smac_planner/test/test_a_star.cpp +++ b/nav2_smac_planner/test/test_a_star.cpp @@ -16,6 +16,7 @@ #include #include #include +#include #include "gtest/gtest.h" #include "rclcpp/rclcpp.hpp" @@ -23,8 +24,10 @@ #include "nav2_costmap_2d/costmap_subscriber.hpp" #include "nav2_util/lifecycle_node.hpp" #include "nav2_smac_planner/node_hybrid.hpp" +#include "nav2_smac_planner/node_lattice.hpp" #include "nav2_smac_planner/a_star.hpp" #include "nav2_smac_planner/collision_checker.hpp" +#include "ament_index_cpp/get_package_share_directory.hpp" class RclCppFixture { @@ -166,6 +169,59 @@ TEST(AStarTest, test_a_star_se2) delete costmapA; } +TEST(AStarTest, test_a_star_lattice) +{ + nav2_smac_planner::SearchInfo info; + info.change_penalty = 0.05; + info.non_straight_penalty = 1.05; + info.reverse_penalty = 2.0; + info.analytic_expansion_ratio = 3.5; + info.lattice_filepath = + ament_index_cpp::get_package_share_directory("nav2_smac_planner") + "/output.json"; + info.minimum_turning_radius = 8; // in grid coordinates 0.4/0.05 + unsigned int size_theta = 16; + info.cost_penalty = 2.0; + nav2_smac_planner::AStarAlgorithm a_star( + nav2_smac_planner::MotionModel::STATE_LATTICE, info); + int max_iterations = 10000; + float tolerance = 10.0; + int it_on_approach = 10; + double max_planning_time = 120.0; + int num_it = 0; + + a_star.initialize( + false, max_iterations, std::numeric_limits::max(), max_planning_time, 401, size_theta); + + nav2_costmap_2d::Costmap2D * costmapA = + new nav2_costmap_2d::Costmap2D(100, 100, 0.05, 0.0, 0.0, 0); + // island in the middle of lethal cost to cross + for (unsigned int i = 20; i <= 30; ++i) { + for (unsigned int j = 20; j <= 30; ++j) { + costmapA->setCost(i, j, 254); + } + } + + std::unique_ptr checker = + std::make_unique(costmapA, size_theta); + checker->setFootprint(nav2_costmap_2d::Footprint(), true, 0.0); + + // functional case testing + a_star.setCollisionChecker(checker.get()); + a_star.setStart(5u, 5u, 0u); + a_star.setGoal(40u, 40u, 1u); + nav2_smac_planner::NodeLattice::CoordinateVector path; + EXPECT_TRUE(a_star.createPath(path, num_it, tolerance)); + + // check path is the right size and collision free + EXPECT_EQ(num_it, 14); + EXPECT_EQ(path.size(), 49u); + for (unsigned int i = 0; i != path.size(); i++) { + EXPECT_EQ(costmapA->getCost(path[i].x, path[i].y), 0); + } + + delete costmapA; +} + TEST(AStarTest, test_se2_single_pose_path) { nav2_smac_planner::SearchInfo info; From 83733653e373f4da6b9713ce7f16fac64deae8b6 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Tue, 16 Nov 2021 18:19:23 -0800 Subject: [PATCH 27/31] fixing crash --- nav2_smac_planner/src/smac_planner_lattice.cpp | 7 ++++--- nav2_smac_planner/test/test_smac_lattice.cpp | 12 ++++++++++-- 2 files changed, 14 insertions(+), 5 deletions(-) diff --git a/nav2_smac_planner/src/smac_planner_lattice.cpp b/nav2_smac_planner/src/smac_planner_lattice.cpp index 7544f023df..c6d9ca7ea2 100644 --- a/nav2_smac_planner/src/smac_planner_lattice.cpp +++ b/nav2_smac_planner/src/smac_planner_lattice.cpp @@ -57,6 +57,7 @@ void SmacPlannerLattice::configure( _costmap_ros = costmap_ros; _name = name; _global_frame = costmap_ros->getGlobalFrameID(); + _raw_plan_publisher = node->create_publisher("unsmoothed_plan", 1); RCLCPP_INFO(_logger, "Configuring %s of type SmacPlannerLattice", name.c_str()); @@ -68,8 +69,10 @@ void SmacPlannerLattice::configure( node, name + ".max_iterations", rclcpp::ParameterValue(1000000)); node->get_parameter(name + ".max_iterations", _max_iterations); + // Default to a well rounded model: 16 bin, 0.4m turning radius, ackermann model nav2_util::declare_parameter_if_not_declared( - node, name + ".lattice_filepath", rclcpp::ParameterValue(std::string(""))); + node, name + ".lattice_filepath", rclcpp::ParameterValue( + ament_index_cpp::get_package_share_directory("nav2_smac_planner") + "/output.json")); node->get_parameter(name + ".lattice_filepath", _search_info.lattice_filepath); nav2_util::declare_parameter_if_not_declared( node, name + ".cache_obstacle_heuristic", rclcpp::ParameterValue(false)); @@ -157,8 +160,6 @@ void SmacPlannerLattice::configure( _smoother = std::make_unique(params); _smoother->initialize(_metadata.min_turning_radius); - _raw_plan_publisher = node->create_publisher("unsmoothed_plan", 1); - RCLCPP_INFO( _logger, "Configured plugin %s of type SmacPlannerLattice with " "maximum iterations %i, " diff --git a/nav2_smac_planner/test/test_smac_lattice.cpp b/nav2_smac_planner/test/test_smac_lattice.cpp index 1777c293f1..b130e385e9 100644 --- a/nav2_smac_planner/test/test_smac_lattice.cpp +++ b/nav2_smac_planner/test/test_smac_lattice.cpp @@ -57,7 +57,11 @@ TEST(SmacTest, test_smac_lattice) goal.pose.position.y = 1.0; goal.pose.orientation.w = 1.0; auto planner = std::make_unique(); - planner->configure(nodeLattice, "test", nullptr, costmap_ros); + try { + // Expect to throw due to invalid prims file in param + planner->configure(nodeLattice, "test", nullptr, costmap_ros); + } catch (...) { + } planner->activate(); try { @@ -84,7 +88,11 @@ TEST(SmacTest, test_smac_lattice_reconfigure) costmap_ros->on_configure(rclcpp_lifecycle::State()); auto planner = std::make_unique(); - planner->configure(nodeLattice, "test", nullptr, costmap_ros); + try { + // Expect to throw due to invalid prims file in param + planner->configure(nodeLattice, "test", nullptr, costmap_ros); + } catch (...) { + } planner->activate(); auto rec_param = std::make_shared( From f1ee7282892943bb45bb9606c27c38b486a45ed5 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Tue, 16 Nov 2021 18:22:40 -0800 Subject: [PATCH 28/31] adding default model --- nav2_smac_planner/src/smac_planner_lattice.cpp | 2 +- nav2_smac_planner/test/CMakeLists.txt | 2 +- .../test/{output.json => default_model.json} | 0 nav2_smac_planner/test/test_a_star.cpp | 2 +- nav2_smac_planner/test/test_nodelattice.cpp | 10 +++++----- 5 files changed, 8 insertions(+), 8 deletions(-) rename nav2_smac_planner/test/{output.json => default_model.json} (100%) diff --git a/nav2_smac_planner/src/smac_planner_lattice.cpp b/nav2_smac_planner/src/smac_planner_lattice.cpp index c6d9ca7ea2..143e4e9740 100644 --- a/nav2_smac_planner/src/smac_planner_lattice.cpp +++ b/nav2_smac_planner/src/smac_planner_lattice.cpp @@ -72,7 +72,7 @@ void SmacPlannerLattice::configure( // Default to a well rounded model: 16 bin, 0.4m turning radius, ackermann model nav2_util::declare_parameter_if_not_declared( node, name + ".lattice_filepath", rclcpp::ParameterValue( - ament_index_cpp::get_package_share_directory("nav2_smac_planner") + "/output.json")); + ament_index_cpp::get_package_share_directory("nav2_smac_planner") + "/default_model.json")); node->get_parameter(name + ".lattice_filepath", _search_info.lattice_filepath); nav2_util::declare_parameter_if_not_declared( node, name + ".cache_obstacle_heuristic", rclcpp::ParameterValue(false)); diff --git a/nav2_smac_planner/test/CMakeLists.txt b/nav2_smac_planner/test/CMakeLists.txt index 0b04e2580b..824c203c87 100644 --- a/nav2_smac_planner/test/CMakeLists.txt +++ b/nav2_smac_planner/test/CMakeLists.txt @@ -104,4 +104,4 @@ ament_target_dependencies(test_lattice_node ${dependencies}) target_link_libraries(test_lattice_node ${library_name}) -install(FILES output.json DESTINATION share/${PROJECT_NAME}) +install(FILES default_model.json DESTINATION share/${PROJECT_NAME}) diff --git a/nav2_smac_planner/test/output.json b/nav2_smac_planner/test/default_model.json similarity index 100% rename from nav2_smac_planner/test/output.json rename to nav2_smac_planner/test/default_model.json diff --git a/nav2_smac_planner/test/test_a_star.cpp b/nav2_smac_planner/test/test_a_star.cpp index fb5ecda287..154817fa29 100644 --- a/nav2_smac_planner/test/test_a_star.cpp +++ b/nav2_smac_planner/test/test_a_star.cpp @@ -177,7 +177,7 @@ TEST(AStarTest, test_a_star_lattice) info.reverse_penalty = 2.0; info.analytic_expansion_ratio = 3.5; info.lattice_filepath = - ament_index_cpp::get_package_share_directory("nav2_smac_planner") + "/output.json"; + ament_index_cpp::get_package_share_directory("nav2_smac_planner") + "/default_model.json"; info.minimum_turning_radius = 8; // in grid coordinates 0.4/0.05 unsigned int size_theta = 16; info.cost_penalty = 2.0; diff --git a/nav2_smac_planner/test/test_nodelattice.cpp b/nav2_smac_planner/test/test_nodelattice.cpp index 3c652a075e..a12315991a 100644 --- a/nav2_smac_planner/test/test_nodelattice.cpp +++ b/nav2_smac_planner/test/test_nodelattice.cpp @@ -28,7 +28,7 @@ using json = nlohmann::json; TEST(NodeLatticeTest, parser_test) { std::string pkg_share_dir = ament_index_cpp::get_package_share_directory("nav2_smac_planner"); - std::string filePath = pkg_share_dir + "/output.json"; + std::string filePath = pkg_share_dir + "/default_model.json"; std::ifstream myJsonFile(filePath); ASSERT_TRUE(myJsonFile.is_open()); @@ -83,7 +83,7 @@ TEST(NodeLatticeTest, parser_test) TEST(NodeLatticeTest, test_node_lattice_neighbors_and_parsing) { std::string pkg_share_dir = ament_index_cpp::get_package_share_directory("nav2_smac_planner"); - std::string filePath = pkg_share_dir + "/output.json"; + std::string filePath = pkg_share_dir + "/default_model.json"; nav2_smac_planner::SearchInfo info; info.minimum_turning_radius = 1.1; @@ -120,7 +120,7 @@ TEST(NodeLatticeTest, test_node_lattice_neighbors_and_parsing) TEST(NodeLatticeTest, test_node_lattice_conversions) { std::string pkg_share_dir = ament_index_cpp::get_package_share_directory("nav2_smac_planner"); - std::string filePath = pkg_share_dir + "/output.json"; + std::string filePath = pkg_share_dir + "/default_model.json"; nav2_smac_planner::SearchInfo info; info.minimum_turning_radius = 1.1; @@ -154,7 +154,7 @@ TEST(NodeLatticeTest, test_node_lattice_conversions) TEST(NodeLatticeTest, test_node_lattice) { std::string pkg_share_dir = ament_index_cpp::get_package_share_directory("nav2_smac_planner"); - std::string filePath = pkg_share_dir + "/output.json"; + std::string filePath = pkg_share_dir + "/default_model.json"; nav2_smac_planner::SearchInfo info; info.minimum_turning_radius = 1.1; @@ -227,7 +227,7 @@ TEST(NodeLatticeTest, test_node_lattice) TEST(NodeLatticeTest, test_get_neighbors) { std::string pkg_share_dir = ament_index_cpp::get_package_share_directory("nav2_smac_planner"); - std::string filePath = pkg_share_dir + "/output.json"; + std::string filePath = pkg_share_dir + "/default_model.json"; nav2_smac_planner::SearchInfo info; info.minimum_turning_radius = 1.1; From 4c2b5ae82ebd04a0ca2ba3d5ae326885e66967bc Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Tue, 16 Nov 2021 18:26:27 -0800 Subject: [PATCH 29/31] adding corrected exporting of plugins --- nav2_smac_planner/CMakeLists.txt | 2 +- nav2_smac_planner/package.xml | 4 +++- nav2_smac_planner/{smac_plugin.xml => smac_plugin_hybrid.xml} | 0 3 files changed, 4 insertions(+), 2 deletions(-) rename nav2_smac_planner/{smac_plugin.xml => smac_plugin_hybrid.xml} (100%) diff --git a/nav2_smac_planner/CMakeLists.txt b/nav2_smac_planner/CMakeLists.txt index 761ed6e19c..5e855b3b3b 100644 --- a/nav2_smac_planner/CMakeLists.txt +++ b/nav2_smac_planner/CMakeLists.txt @@ -134,7 +134,7 @@ ament_target_dependencies(${library_name}_lattice ${dependencies} ) -pluginlib_export_plugin_description_file(nav2_core smac_plugin.xml) +pluginlib_export_plugin_description_file(nav2_core smac_plugin_hybrid.xml) pluginlib_export_plugin_description_file(nav2_core smac_plugin_2d.xml) pluginlib_export_plugin_description_file(nav2_core smac_plugin_lattice.xml) diff --git a/nav2_smac_planner/package.xml b/nav2_smac_planner/package.xml index f2c5654915..929e1141ab 100644 --- a/nav2_smac_planner/package.xml +++ b/nav2_smac_planner/package.xml @@ -36,6 +36,8 @@ ament_cmake - + + + diff --git a/nav2_smac_planner/smac_plugin.xml b/nav2_smac_planner/smac_plugin_hybrid.xml similarity index 100% rename from nav2_smac_planner/smac_plugin.xml rename to nav2_smac_planner/smac_plugin_hybrid.xml From 36f32c07b794ec48bffd5f1374dd14dcb39aa7d2 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Wed, 17 Nov 2021 15:02:23 -0800 Subject: [PATCH 30/31] adding more test coverage --- nav2_smac_planner/test/test_smac_2d.cpp | 4 +++- nav2_smac_planner/test/test_smac_lattice.cpp | 18 ++++++++++++++++-- 2 files changed, 19 insertions(+), 3 deletions(-) diff --git a/nav2_smac_planner/test/test_smac_2d.cpp b/nav2_smac_planner/test/test_smac_2d.cpp index 0509a7cebd..ebbac996cd 100644 --- a/nav2_smac_planner/test/test_smac_2d.cpp +++ b/nav2_smac_planner/test/test_smac_2d.cpp @@ -108,7 +108,8 @@ TEST(SmacTest, test_smac_2d_reconfigure) { rclcpp::Parameter("test.downsampling_factor", 2), rclcpp::Parameter("test.max_iterations", -1), rclcpp::Parameter("test.max_on_approach_iterations", -1), - rclcpp::Parameter("test.motion_model_for_search", "UNKNOWN")}); + rclcpp::Parameter("test.motion_model_for_search", "UNKNOWN"), + rclcpp::Parameter("test.use_final_approach_orientation", false)}); rclcpp::spin_until_future_complete( node2D->get_node_base_interface(), @@ -123,6 +124,7 @@ TEST(SmacTest, test_smac_2d_reconfigure) { EXPECT_EQ(node2D->get_parameter("test.allow_unknown").as_bool(), false); EXPECT_EQ(node2D->get_parameter("test.downsampling_factor").as_int(), 2); EXPECT_EQ(node2D->get_parameter("test.max_iterations").as_int(), -1); + EXPECT_EQ(node2D->get_parameter("test.use_final_approach_orientation").as_bool(), false); EXPECT_EQ( node2D->get_parameter("test.max_on_approach_iterations").as_int(), -1); diff --git a/nav2_smac_planner/test/test_smac_lattice.cpp b/nav2_smac_planner/test/test_smac_lattice.cpp index b130e385e9..e323f92fd0 100644 --- a/nav2_smac_planner/test/test_smac_lattice.cpp +++ b/nav2_smac_planner/test/test_smac_lattice.cpp @@ -36,6 +36,16 @@ class RclCppFixture }; RclCppFixture g_rclcppfixture; +// Simple wrapper to be able to call a private member +class LatticeWrap : public nav2_smac_planner::SmacPlannerLattice +{ +public: + void callDynamicParams(std::vector parameters) + { + dynamicParametersCallback(parameters); + } +}; + // SMAC smoke tests for plugin-level issues rather than algorithms // (covered by more extensively testing in other files) // System tests in nav2_system_tests will actually plan with this work @@ -87,7 +97,7 @@ TEST(SmacTest, test_smac_lattice_reconfigure) std::make_shared("global_costmap"); costmap_ros->on_configure(rclcpp_lifecycle::State()); - auto planner = std::make_unique(); + auto planner = std::make_unique(); try { // Expect to throw due to invalid prims file in param planner->configure(nodeLattice, "test", nullptr, costmap_ros); @@ -111,7 +121,6 @@ TEST(SmacTest, test_smac_lattice_reconfigure) rclcpp::Parameter("test.analytic_expansion_ratio", 4.0), rclcpp::Parameter("test.max_planning_time", 10.0), rclcpp::Parameter("test.lookup_table_size", 30.0), - rclcpp::Parameter("test.lattice_filepath", std::string("HI")), rclcpp::Parameter("test.allow_reverse_expansion", true)}); try { @@ -123,4 +132,9 @@ TEST(SmacTest, test_smac_lattice_reconfigure) results); } catch (...) { } + + // So instead, lets call manually on a change + std::vector parameters; + parameters.push_back(rclcpp::Parameter("test.lattice_filepath", std::string("HI"))); + EXPECT_THROW(planner->callDynamicParams(parameters), std::runtime_error); } From 8da0f29de39043ca752db5d1433b104223a09c37 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Wed, 17 Nov 2021 15:06:42 -0800 Subject: [PATCH 31/31] reorder tests to see if natters --- .../src/planning/test_planner_plugins.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/nav2_system_tests/src/planning/test_planner_plugins.cpp b/nav2_system_tests/src/planning/test_planner_plugins.cpp index 5d4b52eb87..a6eca85212 100644 --- a/nav2_system_tests/src/planning/test_planner_plugins.cpp +++ b/nav2_system_tests/src/planning/test_planner_plugins.cpp @@ -170,11 +170,6 @@ TEST(testPluginMap, ThetaStarVerySmallPath) testSmallPathValidityAndOrientation("nav2_theta_star_planner/ThetaStarPlanner", 0.00001); } -TEST(testPluginMap, ThetaStarBelowCostmapResolution) -{ - testSmallPathValidityAndOrientation("nav2_theta_star_planner/ThetaStarPlanner", 0.09); -} - TEST(testPluginMap, ThetaStarJustAboveCostmapResolution) { testSmallPathValidityAndOrientation("nav2_theta_star_planner/ThetaStarPlanner", 0.102); @@ -185,6 +180,11 @@ TEST(testPluginMap, ThetaStarAboveCostmapResolution) testSmallPathValidityAndOrientation("nav2_theta_star_planner/ThetaStarPlanner", 1.5); } +TEST(testPluginMap, ThetaStarBelowCostmapResolution) +{ + testSmallPathValidityAndOrientation("nav2_theta_star_planner/ThetaStarPlanner", 0.09); +} + int main(int argc, char ** argv) { ::testing::InitGoogleTest(&argc, argv);