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Make Navigation Precise #564

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Make Navigation Precise #564

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1 change: 1 addition & 0 deletions ...nners/backward_global_planner/include/backward_global_planner/backward_global_planner.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -74,6 +74,7 @@ class BackwardGlobalPlanner : public nav2_core::GlobalPlanner
const geometry_msgs::msg::PoseStamped & start, const geometry_msgs::msg::PoseStamped & goal);

private:
void updateParameters();
// rclcpp::Node::SharedPtr nh_;
rclcpp_lifecycle::LifecycleNode::SharedPtr nh_;

Expand Down
21 changes: 20 additions & 1 deletion ..._planners/backward_global_planner/src/backward_global_planner/backward_global_planner.cpp
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Expand Up @@ -48,7 +48,7 @@ namespace backward_global_planner
*/
BackwardGlobalPlanner::BackwardGlobalPlanner()
{
skip_straight_motion_distance_ = 0.2;
skip_straight_motion_distance_ = 0.014;
puresSpinningRadStep_ = 1000; // rads
}

Expand All @@ -67,6 +67,8 @@ void BackwardGlobalPlanner::configure(
name_ = name;
tf_ = tf;
transform_tolerance_ = 0.1;
skip_straight_motion_distance_ = 0.014;
puresSpinningRadStep_ = 1000; // rads

// RCLCPP_INFO_NAMED(nh_->get_logger(), "Backwards", "BackwardGlobalPlanner initialize");
costmap_ros_ = costmap_ros;
Expand All @@ -78,8 +80,23 @@ void BackwardGlobalPlanner::configure(
nh_->create_publisher<visualization_msgs::msg::MarkerArray>("backward_planner/markers", 1);

declareOrSet(nh_, name_ + ".transform_tolerance", transform_tolerance_);
declareOrSet(nh_, name_ + ".pure_spinning_rad_step", puresSpinningRadStep_);
declareOrSet(nh_, name_ + ".skip_straight_motion_distance", skip_straight_motion_distance_);

}

void BackwardGlobalPlanner::updateParameters()
{
nh_->get_parameter(name_ + ".pure_spinning_rad_step", puresSpinningRadStep_);
nh_->get_parameter(name_ + ".skip_straight_motion_distance", skip_straight_motion_distance_);
nh_->get_parameter(name_ + ".transform_tolerance", transform_tolerance_);

RCLCPP_INFO_STREAM(nh_->get_logger(), "[BackwardGlobalPlanner.pure_spinning_rad_step: " << puresSpinningRadStep_);
RCLCPP_INFO_STREAM(nh_->get_logger(), "[BackwardGlobalPlanner.skip_straight_motion_distance: " << skip_straight_motion_distance_);
RCLCPP_INFO_STREAM(nh_->get_logger(), "[BackwardGlobalPlanner.transform_tolerance: " << transform_tolerance_);
}


/**
******************************************************************************************************************
* cleanup()
Expand All @@ -95,6 +112,7 @@ void BackwardGlobalPlanner::cleanup() { this->cleanMarkers(); }
void BackwardGlobalPlanner::activate()
{
RCLCPP_INFO_STREAM(nh_->get_logger(), "[BackwardGlobalPlanner] activating planner");
this->updateParameters();
planPub_->on_activate();
markersPub_->on_activate();
}
Expand Down Expand Up @@ -228,6 +246,7 @@ void BackwardGlobalPlanner::createDefaultBackwardPath(
nav_msgs::msg::Path BackwardGlobalPlanner::createPlan(
const geometry_msgs::msg::PoseStamped & start, const geometry_msgs::msg::PoseStamped & goal)
{
this->updateParameters();
RCLCPP_INFO_STREAM(
nh_->get_logger(), "[BackwardGlobalPlanner] goal frame id: "
<< goal.header.frame_id << " pose: " << goal.pose.position);
Expand Down
1 change: 1 addition & 0 deletions ...planners/forward_global_planner/include/forward_global_planner/forward_global_planner.hpp
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Expand Up @@ -78,6 +78,7 @@ class ForwardGlobalPlanner : public nav2_core::GlobalPlanner
const geometry_msgs::msg::PoseStamped & start, const geometry_msgs::msg::PoseStamped & goal);

private:
void updateParameters();
// rclcpp::Node::SharedPtr nh_;
rclcpp_lifecycle::LifecycleNode::SharedPtr nh_;

Expand Down
33 changes: 30 additions & 3 deletions ...tom_planners/forward_global_planner/src/forward_global_planner/forward_global_planner.cpp
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Expand Up @@ -42,7 +42,7 @@ namespace forward_global_planner
ForwardGlobalPlanner::ForwardGlobalPlanner()
// : nh_("~/ForwardGlobalPlanner")
{
skip_straight_motion_distance_ = 0.2; // meters
skip_straight_motion_distance_ = 0.01; // 0.2; // meters
puresSpinningRadStep_ = 1000; // rads
}

Expand All @@ -60,14 +60,33 @@ void ForwardGlobalPlanner::configure(

RCLCPP_INFO(nh_->get_logger(), "[Forward Global Planner] initializing");
planPub_ = nh_->create_publisher<nav_msgs::msg::Path>("global_plan", rclcpp::QoS(1));
skip_straight_motion_distance_ = 0.2; // meters
skip_straight_motion_distance_ = 0.2; //0.2 // meters
puresSpinningRadStep_ = 1000; // rads
transform_tolerance_ = 0.1;

declareOrSet(nh_, name_ + ".transform_tolerance", transform_tolerance_);
declareOrSet(nh_, name_ + ".pure_spinning_rad_step", puresSpinningRadStep_);
declareOrSet(nh_, name_ + ".skip_straight_motion_distance", skip_straight_motion_distance_);
}
void ForwardGlobalPlanner::updateParameters()
{
nh_->get_parameter(name_ + ".pure_spinning_rad_step", puresSpinningRadStep_);
nh_->get_parameter(name_ + ".skip_straight_motion_distance", skip_straight_motion_distance_);
nh_->get_parameter(name_ + ".transform_tolerance", transform_tolerance_);

RCLCPP_INFO_STREAM(nh_->get_logger(), "[ForwardGlobalPlanner.pure_spinning_rad_step: " << puresSpinningRadStep_);
RCLCPP_INFO_STREAM(nh_->get_logger(), "[ForwardGlobalPlanner.skip_straight_motion_distance: " << skip_straight_motion_distance_);
RCLCPP_INFO_STREAM(nh_->get_logger(), "[ForwardGlobalPlanner.transform_tolerance: " << transform_tolerance_);
}

void ForwardGlobalPlanner::cleanup() {}

void ForwardGlobalPlanner::activate() { planPub_->on_activate(); }
void ForwardGlobalPlanner::activate()
{
RCLCPP_INFO_STREAM(nh_->get_logger(), "activating global planner ForwardGlobalPlanner");
this->updateParameters();
planPub_->on_activate();
}

void ForwardGlobalPlanner::deactivate()
{
Expand All @@ -79,6 +98,9 @@ void ForwardGlobalPlanner::deactivate()
nav_msgs::msg::Path ForwardGlobalPlanner::createPlan(
const geometry_msgs::msg::PoseStamped & start, const geometry_msgs::msg::PoseStamped & goal)
{

this->updateParameters();

RCLCPP_INFO(nh_->get_logger(), "[Forward Global Planner] planning");

rclcpp::Duration ttol = rclcpp::Duration::from_seconds(transform_tolerance_);
Expand Down Expand Up @@ -108,6 +130,11 @@ nav_msgs::msg::Path ForwardGlobalPlanner::createPlan(

double length = sqrt(dx * dx + dy * dy);

RCLCPP_INFO_STREAM(
nh_->get_logger(),
"[Forward Global Planner] current plan length: " << length);


geometry_msgs::msg::PoseStamped prevState;
if (length > skip_straight_motion_distance_)
{
Expand Down
8 changes: 6 additions & 2 deletions ...custom_planners/forward_local_planner/src/forward_local_planner/forward_local_planner.cpp
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Expand Up @@ -40,7 +40,7 @@ namespace forward_local_planner
* ForwardLocalPlanner()
******************************************************************************************************************
*/
ForwardLocalPlanner::ForwardLocalPlanner() : transform_tolerance_(0.1), waitingTimeout_(2s) {}
ForwardLocalPlanner::ForwardLocalPlanner() : transform_tolerance_(0.05), waitingTimeout_(2s) {}

ForwardLocalPlanner::~ForwardLocalPlanner() {}

Expand Down Expand Up @@ -117,7 +117,7 @@ void ForwardLocalPlanner::configure(
}

void ForwardLocalPlanner::updateParameters()
{
{
nh_->get_parameter(name_ + ".k_rho", k_rho_);
nh_->get_parameter(name_ + ".k_alpha", k_alpha_);
nh_->get_parameter(name_ + ".k_betta", k_betta_);
Expand Down Expand Up @@ -367,6 +367,8 @@ geometry_msgs::msg::TwistStamped ForwardLocalPlanner::computeVelocityCommands(
RCLCPP_DEBUG(
nh_->get_logger(), "[ForwardLocalPlanner] ----- COMPUTE VELOCITY COMMAND LOCAL PLANNER ---");

RCLCPP_INFO_STREAM(
nh_->get_logger(), "[ForwardLocalPlanner] plan_.size:" << (int)plan_.size());
bool ok = false;
while (!ok)
{
Expand All @@ -382,6 +384,8 @@ geometry_msgs::msg::TwistStamped ForwardLocalPlanner::computeVelocityCommands(
double dx = p.x - currentPose.pose.position.x;
double dy = p.y - currentPose.pose.position.y;
double dist = sqrt(dx * dx + dy * dy);
RCLCPP_INFO_STREAM(
nh_->get_logger(), "[ForwardLocalPlanner] dist:" << dist);

double pangle = tf2::getYaw(q);
double angle = tf2::getYaw(currentPose.pose.orientation);
Expand Down
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