add humble-navigation2
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X-lanni
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// Copyright (c) 2022, Samsung Research America
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License. Reserved.
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#include <vector>
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#include <memory>
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#include "nav2_smoother/simple_smoother.hpp"
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namespace nav2_smoother
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{
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using namespace smoother_utils; // NOLINT
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using namespace nav2_util::geometry_utils; // NOLINT
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using namespace std::chrono; // NOLINT
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using nav2_util::declare_parameter_if_not_declared;
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void SimpleSmoother::configure(
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const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
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std::string name, std::shared_ptr<tf2_ros::Buffer>/*tf*/,
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std::shared_ptr<nav2_costmap_2d::CostmapSubscriber> costmap_sub,
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std::shared_ptr<nav2_costmap_2d::FootprintSubscriber>/*footprint_sub*/)
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{
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costmap_sub_ = costmap_sub;
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auto node = parent.lock();
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logger_ = node->get_logger();
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declare_parameter_if_not_declared(
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node, name + ".tolerance", rclcpp::ParameterValue(1e-10));
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declare_parameter_if_not_declared(
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node, name + ".max_its", rclcpp::ParameterValue(1000));
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declare_parameter_if_not_declared(
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node, name + ".w_data", rclcpp::ParameterValue(0.2));
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declare_parameter_if_not_declared(
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node, name + ".w_smooth", rclcpp::ParameterValue(0.3));
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declare_parameter_if_not_declared(
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node, name + ".do_refinement", rclcpp::ParameterValue(true));
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node->get_parameter(name + ".tolerance", tolerance_);
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node->get_parameter(name + ".max_its", max_its_);
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node->get_parameter(name + ".w_data", data_w_);
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node->get_parameter(name + ".w_smooth", smooth_w_);
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node->get_parameter(name + ".do_refinement", do_refinement_);
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}
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bool SimpleSmoother::smooth(
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nav_msgs::msg::Path & path,
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const rclcpp::Duration & max_time)
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{
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auto costmap = costmap_sub_->getCostmap();
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refinement_ctr_ = 0;
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steady_clock::time_point start = steady_clock::now();
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double time_remaining = max_time.seconds();
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bool success = true, reversing_segment;
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nav_msgs::msg::Path curr_path_segment;
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curr_path_segment.header = path.header;
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std::vector<PathSegment> path_segments = findDirectionalPathSegments(path);
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for (unsigned int i = 0; i != path_segments.size(); i++) {
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if (path_segments[i].end - path_segments[i].start > 9) {
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// Populate path segment
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curr_path_segment.poses.clear();
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std::copy(
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path.poses.begin() + path_segments[i].start,
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path.poses.begin() + path_segments[i].end + 1,
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std::back_inserter(curr_path_segment.poses));
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// Make sure we're still able to smooth with time remaining
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steady_clock::time_point now = steady_clock::now();
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time_remaining = max_time.seconds() - duration_cast<duration<double>>(now - start).count();
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// Smooth path segment naively
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success = success && smoothImpl(
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curr_path_segment, reversing_segment, costmap.get(), time_remaining);
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// Assemble the path changes to the main path
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std::copy(
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curr_path_segment.poses.begin(),
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curr_path_segment.poses.end(),
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path.poses.begin() + path_segments[i].start);
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}
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}
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return success;
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}
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bool SimpleSmoother::smoothImpl(
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nav_msgs::msg::Path & path,
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bool & reversing_segment,
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const nav2_costmap_2d::Costmap2D * costmap,
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const double & max_time)
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{
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steady_clock::time_point a = steady_clock::now();
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rclcpp::Duration max_dur = rclcpp::Duration::from_seconds(max_time);
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int its = 0;
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double change = tolerance_;
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const unsigned int & path_size = path.poses.size();
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double x_i, y_i, y_m1, y_ip1, y_i_org;
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unsigned int mx, my;
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nav_msgs::msg::Path new_path = path;
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nav_msgs::msg::Path last_path = path;
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while (change >= tolerance_) {
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its += 1;
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change = 0.0;
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// Make sure the smoothing function will converge
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if (its >= max_its_) {
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RCLCPP_WARN(
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logger_,
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"Number of iterations has exceeded limit of %i.", max_its_);
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path = last_path;
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updateApproximatePathOrientations(path, reversing_segment);
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return false;
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}
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// Make sure still have time left to process
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steady_clock::time_point b = steady_clock::now();
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rclcpp::Duration timespan(duration_cast<duration<double>>(b - a));
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if (timespan > max_dur) {
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RCLCPP_WARN(
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logger_,
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"Smoothing time exceeded allowed duration of %0.2f.", max_time);
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path = last_path;
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updateApproximatePathOrientations(path, reversing_segment);
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return false;
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}
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for (unsigned int i = 1; i != path_size - 1; i++) {
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for (unsigned int j = 0; j != 2; j++) {
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x_i = getFieldByDim(path.poses[i], j);
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y_i = getFieldByDim(new_path.poses[i], j);
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y_m1 = getFieldByDim(new_path.poses[i - 1], j);
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y_ip1 = getFieldByDim(new_path.poses[i + 1], j);
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y_i_org = y_i;
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// Smooth based on local 3 point neighborhood and original data locations
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y_i += data_w_ * (x_i - y_i) + smooth_w_ * (y_ip1 + y_m1 - (2.0 * y_i));
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setFieldByDim(new_path.poses[i], j, y_i);
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change += abs(y_i - y_i_org);
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}
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// validate update is admissible, only checks cost if a valid costmap pointer is provided
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float cost = 0.0;
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if (costmap) {
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costmap->worldToMap(
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getFieldByDim(new_path.poses[i], 0),
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getFieldByDim(new_path.poses[i], 1),
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mx, my);
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cost = static_cast<float>(costmap->getCost(mx, my));
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}
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if (cost > nav2_costmap_2d::MAX_NON_OBSTACLE && cost != nav2_costmap_2d::NO_INFORMATION) {
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RCLCPP_DEBUG(
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rclcpp::get_logger("SmacPlannerSmoother"),
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"Smoothing process resulted in an infeasible collision. "
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"Returning the last path before the infeasibility was introduced.");
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path = last_path;
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updateApproximatePathOrientations(path, reversing_segment);
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return false;
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}
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}
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last_path = new_path;
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}
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// Lets do additional refinement, it shouldn't take more than a couple milliseconds
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// but really puts the path quality over the top.
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if (do_refinement_ && refinement_ctr_ < 4) {
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refinement_ctr_++;
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smoothImpl(new_path, reversing_segment, costmap, max_time);
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}
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updateApproximatePathOrientations(new_path, reversing_segment);
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path = new_path;
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return true;
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}
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double SimpleSmoother::getFieldByDim(
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const geometry_msgs::msg::PoseStamped & msg, const unsigned int & dim)
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{
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if (dim == 0) {
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return msg.pose.position.x;
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} else if (dim == 1) {
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return msg.pose.position.y;
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} else {
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return msg.pose.position.z;
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}
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}
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void SimpleSmoother::setFieldByDim(
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geometry_msgs::msg::PoseStamped & msg, const unsigned int dim,
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const double & value)
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{
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if (dim == 0) {
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msg.pose.position.x = value;
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} else if (dim == 1) {
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msg.pose.position.y = value;
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} else {
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msg.pose.position.z = value;
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}
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}
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} // namespace nav2_smoother
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#include "pluginlib/class_list_macros.hpp"
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PLUGINLIB_EXPORT_CLASS(nav2_smoother::SimpleSmoother, nav2_core::Smoother)
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