Merge pull request ros-navigation#10 from botsandus/AUTO-610_enforce_global_inversion

 AUTO-610 [MPPI] enforce global path inversions

Author: doisyg

nav2_controller/CMakeLists.txt

@@ -50,6 +50,10 @@ set(dependencies
 add_library(simple_progress_checker SHARED plugins/simple_progress_checker.cpp)
 ament_target_dependencies(simple_progress_checker ${dependencies})
 
+add_library(rotation_progress_checker SHARED plugins/rotation_progress_checker.cpp)
+target_link_libraries(rotation_progress_checker simple_progress_checker)
+ament_target_dependencies(rotation_progress_checker ${dependencies})
+
 add_library(simple_goal_checker SHARED plugins/simple_goal_checker.cpp)
 ament_target_dependencies(simple_goal_checker ${dependencies})
 
@@ -79,7 +83,7 @@ target_link_libraries(${executable_name} ${library_name})
 
 rclcpp_components_register_nodes(${library_name} "nav2_controller::ControllerServer")
 
-install(TARGETS simple_progress_checker simple_goal_checker stopped_goal_checker ${library_name}
+install(TARGETS simple_progress_checker rotation_progress_checker simple_goal_checker stopped_goal_checker ${library_name}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
@@ -102,6 +106,7 @@ endif()
 
 ament_export_include_directories(include)
 ament_export_libraries(simple_progress_checker
+  rotation_progress_checker
   simple_goal_checker
   stopped_goal_checker
   ${library_name})

nav2_controller/include/nav2_controller/plugins/rotation_progress_checker.hpp

@@ -0,0 +1,68 @@
+// Copyright (c) 2023 Dexory
+//
+// 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.
+
+#ifndef NAV2_CONTROLLER__PLUGINS__ROTATION_PROGRESS_CHECKER_HPP_
+#define NAV2_CONTROLLER__PLUGINS__ROTATION_PROGRESS_CHECKER_HPP_
+
+#include <string>
+#include <vector>
+#include "rclcpp/rclcpp.hpp"
+#include "nav2_controller/plugins/simple_progress_checker.hpp"
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
+#include "nav2_core/progress_checker.hpp"
+#include "geometry_msgs/msg/pose_stamped.hpp"
+#include "geometry_msgs/msg/pose2_d.hpp"
+
+namespace nav2_controller
+{
+/**
+* @class RotationProgressChecker
+* @brief This plugin is used to check the position and the angle of the robot to make sure
+* that it is actually progressing or rotating towards a goal.
+*/
+
+class RotationProgressChecker : public SimpleProgressChecker
+{
+public:
+  void initialize(
+    const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
+    const std::string & plugin_name) override;
+  bool check(geometry_msgs::msg::PoseStamped & current_pose) override;
+
+protected:
+  /**
+   * @brief Calculates robots movement from baseline pose
+   * @param pose Current pose of the robot
+   * @return true, if movement is greater than radius_, or false
+   */
+  bool is_robot_moved_enough(const geometry_msgs::msg::Pose2D & pose);
+
+  static double pose_angle_distance(const geometry_msgs::msg::Pose2D &, const geometry_msgs::msg::Pose2D &);
+
+  double required_movement_angle_;
+
+  // Dynamic parameters handler
+  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr dyn_params_handler_;
+  std::string plugin_name_;
+
+  /**
+   * @brief Callback executed when a paramter change is detected
+   * @param parameters list of changed parameters
+   */
+  rcl_interfaces::msg::SetParametersResult
+  dynamicParametersCallback(std::vector<rclcpp::Parameter> parameters);
+};
+}  // namespace nav2_controller
+
+#endif  // NAV2_CONTROLLER__PLUGINS__ROTATION_PROGRESS_CHECKER_HPP_

nav2_controller/include/nav2_controller/plugins/simple_progress_checker.hpp

@@ -53,6 +53,8 @@ class SimpleProgressChecker : public nav2_core::ProgressChecker
    */
   void reset_baseline_pose(const geometry_msgs::msg::Pose2D & pose);
 
+  static double pose_distance(const geometry_msgs::msg::Pose2D &, const geometry_msgs::msg::Pose2D &);
+
   rclcpp::Clock::SharedPtr clock_;
 
   double radius_;

nav2_controller/plugins.xml

@@ -4,6 +4,11 @@
       <description>Checks if distance between current and previous pose is above a threshold</description>
     </class>
   </library>
+  <library path="rotation_progress_checker">
+    <class type="nav2_controller::RotationProgressChecker" base_class_type="nav2_core::ProgressChecker">
+      <description>Checks if distance and angle between current and previous pose is above a threshold</description>
+    </class>
+  </library>
   <library path="simple_goal_checker">
     <class type="nav2_controller::SimpleGoalChecker" base_class_type="nav2_core::GoalChecker">
       <description>Checks if current pose is within goal window for x,y and yaw</description>

nav2_controller/plugins/rotation_progress_checker.cpp

@@ -0,0 +1,97 @@
+// Copyright (c) 2023 Dexory
+//
+// 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.
+
+#include "nav2_controller/plugins/rotation_progress_checker.hpp"
+#include <cmath>
+#include <string>
+#include <memory>
+#include <vector>
+#include "angles/angles.h"
+#include "nav_2d_utils/conversions.hpp"
+#include "geometry_msgs/msg/pose_stamped.hpp"
+#include "geometry_msgs/msg/pose2_d.hpp"
+#include "nav2_util/node_utils.hpp"
+#include "pluginlib/class_list_macros.hpp"
+
+using rcl_interfaces::msg::ParameterType;
+using std::placeholders::_1;
+
+namespace nav2_controller
+{
+
+void RotationProgressChecker::initialize(
+  const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
+  const std::string & plugin_name)
+{
+  plugin_name_ = plugin_name;
+  SimpleProgressChecker::initialize(parent, plugin_name);
+  auto node = parent.lock();
+
+  nav2_util::declare_parameter_if_not_declared(
+    node, plugin_name + ".required_movement_angle", rclcpp::ParameterValue(0.5));
+  node->get_parameter_or(plugin_name + ".required_movement_angle", required_movement_angle_, 0.5);
+
+  // Add callback for dynamic parameters
+  dyn_params_handler_ = node->add_on_set_parameters_callback(
+    std::bind(&RotationProgressChecker::dynamicParametersCallback, this, _1));
+}
+
+bool RotationProgressChecker::check(geometry_msgs::msg::PoseStamped & current_pose)
+{
+  // relies on short circuit evaluation to not call is_robot_moved_enough if
+  // baseline_pose is not set.
+  geometry_msgs::msg::Pose2D current_pose2d;
+  current_pose2d = nav_2d_utils::poseToPose2D(current_pose.pose);
+
+  if ((!baseline_pose_set_) || (RotationProgressChecker::is_robot_moved_enough(current_pose2d))) {
+    reset_baseline_pose(current_pose2d);
+    return true;
+  }
+  return !((clock_->now() - baseline_time_) > time_allowance_);
+}
+
+bool RotationProgressChecker::is_robot_moved_enough(const geometry_msgs::msg::Pose2D & pose)
+{
+  return pose_distance(pose, baseline_pose_) > radius_ ||
+         pose_angle_distance(pose, baseline_pose_) > required_movement_angle_;
+}
+
+double RotationProgressChecker::pose_angle_distance(
+  const geometry_msgs::msg::Pose2D & pose1,
+  const geometry_msgs::msg::Pose2D & pose2)
+{
+  return abs(angles::shortest_angular_distance(pose1.theta,pose2.theta));
+}
+
+rcl_interfaces::msg::SetParametersResult
+RotationProgressChecker::dynamicParametersCallback(std::vector<rclcpp::Parameter> parameters)
+{
+  rcl_interfaces::msg::SetParametersResult result;
+  for (auto parameter : parameters) {
+    const auto & type = parameter.get_type();
+    const auto & name = parameter.get_name();
+
+    if (type == ParameterType::PARAMETER_DOUBLE) {
+      if (name == plugin_name_ + ".required_movement_angle") {
+        required_movement_angle_ = parameter.as_double();
+      }
+    }
+  }
+  result.successful = true;
+  return result;
+}
+
+}  // namespace nav2_controller
+
+PLUGINLIB_EXPORT_CLASS(nav2_controller::RotationProgressChecker, nav2_core::ProgressChecker)

nav2_controller/plugins/simple_progress_checker.cpp

@@ -28,8 +28,6 @@ using std::placeholders::_1;
 
 namespace nav2_controller
 {
-static double pose_distance(const geometry_msgs::msg::Pose2D &, const geometry_msgs::msg::Pose2D &);
-
 void SimpleProgressChecker::initialize(
   const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
   const std::string & plugin_name)
@@ -85,7 +83,7 @@ bool SimpleProgressChecker::is_robot_moved_enough(const geometry_msgs::msg::Pose
   return pose_distance(pose, baseline_pose_) > radius_;
 }
 
-static double pose_distance(
+double SimpleProgressChecker::pose_distance(
   const geometry_msgs::msg::Pose2D & pose1,
   const geometry_msgs::msg::Pose2D & pose2)
 {

nav2_mppi_controller/CMakeLists.txt

@@ -75,14 +75,7 @@ install(DIRECTORY include/
   DESTINATION include/
 )
 
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  find_package(ament_cmake_gtest REQUIRED)
-  set(ament_cmake_copyright_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
-  add_subdirectory(test)
-  # add_subdirectory(benchmark)
-endif()
+
 
 ament_export_libraries(${libraries})
 ament_export_dependencies(${dependencies_pkgs})

nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp

@@ -248,7 +248,7 @@ class Optimizer
 
   models::State state_;
   models::ControlSequence control_sequence_;
-  std::array<mppi::models::Control, 2> control_history_;
+  std::array<mppi::models::Control, 4> control_history_;
   models::Trajectories generated_trajectories_;
   models::Path path_;
   xt::xtensor<float, 1> costs_;

nav2_mppi_controller/include/nav2_mppi_controller/tools/path_handler.hpp

@@ -88,6 +88,8 @@ class PathHandler
    */
   nav_msgs::msg::Path transformPath(const geometry_msgs::msg::PoseStamped & robot_pose);
 
+  bool isWithinInversionTolerances(const geometry_msgs::msg::PoseStamped & robot_pose);
+
 protected:
   /**
     * @brief Transform a pose to another frame
@@ -127,19 +129,25 @@ class PathHandler
     * @brief Prune global path to only interesting portions
     * @param end Final path iterator
     */
-  void pruneGlobalPlan(const PathIterator end);
+  void prunePlan(nav_msgs::msg::Path & plan, const PathIterator end);
 
   std::string name_;
   std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_;
   std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
   ParametersHandler * parameters_handler_;
 
+  nav_msgs::msg::Path global_plan_up_to_inversion_;
   nav_msgs::msg::Path global_plan_;
   rclcpp::Logger logger_{rclcpp::get_logger("MPPIController")};
 
   double max_robot_pose_search_dist_{0};
   double prune_distance_{0};
   double transform_tolerance_{0};
+
+  bool enforce_inversion_{false};
+  bool inversion_remaining_{false};
+  double inversion_xy_tolerance_{0};
+  double inversion_yaw_tolerance{0};
 };
 }  // namespace mppi