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mpc_local_planner/src/mpc_local_planner_ros.cpp

@@ -89,13 +89,13 @@ void MpcLocalPlannerROS::reconfigureCollisionCB(CollisionReconfigureConfig& conf
 
 void MpcLocalPlannerROS::initialize(std::string name, tf2_ros::Buffer* tf, costmap_2d::Costmap2DROS* costmap_ros)
 {
-    // check if the plugin is already initialized
+    // 检查插件是否已经初始化
     if (!_initialized)
     {
-        // create Node Handle with name of plugin (as used in move_base for loading)
+        // 创建一个Node Handle，使用插件的名称（如在move_base中加载）
         ros::NodeHandle nh("~/" + name);
 
-        // load plugin related main parameters
+        // 加载插件相关的主要参数
         nh.param("controller/xy_goal_tolerance", _params.xy_goal_tolerance, _params.xy_goal_tolerance);
         nh.param("controller/yaw_goal_tolerance", _params.yaw_goal_tolerance, _params.yaw_goal_tolerance);
         nh.param("controller/global_plan_overwrite_orientation", _params.global_plan_overwrite_orientation,
@@ -105,7 +105,7 @@ void MpcLocalPlannerROS::initialize(std::string name, tf2_ros::Buffer* tf, costm
         nh.param("controller/global_plan_viapoint_sep", _params.global_plan_viapoint_sep, _params.global_plan_viapoint_sep);
         _controller.setInitialPlanEstimateOrientation(_params.global_plan_overwrite_orientation);
 
-        // special parameters
+        // 特殊参数
         nh.param("odom_topic", _params.odom_topic, _params.odom_topic);
 
         nh.param("footprint_model/is_footprint_dynamic", _params.is_footprint_dynamic, _params.is_footprint_dynamic);
@@ -118,46 +118,46 @@ void MpcLocalPlannerROS::initialize(std::string name, tf2_ros::Buffer* tf, costm
         nh.param("collision_avoidance/collision_check_min_resolution_angular", _params.collision_check_min_resolution_angular,
                  _params.collision_check_min_resolution_angular);
 
-        // costmap converter plugin related parameters
+        // 代价地图转换器插件相关参数
         nh.param("costmap_converter_plugin", _costmap_conv_params.costmap_converter_plugin, _costmap_conv_params.costmap_converter_plugin);
         nh.param("costmap_converter_rate", _costmap_conv_params.costmap_converter_rate, _costmap_conv_params.costmap_converter_rate);
         nh.param("costmap_converter_spin_thread", _costmap_conv_params.costmap_converter_spin_thread,
                  _costmap_conv_params.costmap_converter_spin_thread);
 
-        // reserve some memory for obstacles
+        // 预留一些内存用于障碍物
         _obstacles.reserve(700);
 
-        // init other variables
+        // 初始化其他变量
         _tf          = tf;
         _costmap_ros = costmap_ros;
-        _costmap     = _costmap_ros->getCostmap();  // locking should be done in MoveBase.
+        _costmap     = _costmap_ros->getCostmap();   // 应在MoveBase中进行锁定
 
         _costmap_model = std::make_shared<base_local_planner::CostmapModel>(*_costmap);
 
         _global_frame     = _costmap_ros->getGlobalFrameID();
         _robot_base_frame = _costmap_ros->getBaseFrameID();
 
-        // create robot footprint/contour model for optimization
+        // 创建用于优化的机器人足迹/轮廓模型
         _robot_model = getRobotFootprintFromParamServer(nh, _costmap_ros);
 
-        // create the planner instance
+        // 创建规划器实例
         if (!_controller.configure(nh, _obstacles, _robot_model, _via_points))
         {
             ROS_ERROR("Controller configuration failed.");
             return;
         }
 
-        // create visualization instance
+        // 创建规划器实例
         _publisher.initialize(nh, _controller.getRobotDynamics(), _global_frame);
 
-        // Initialize a costmap to polygon converter
+        // 初始化代价地图到多边形的转换器
         if (!_costmap_conv_params.costmap_converter_plugin.empty())
         {
             try
             {
                 _costmap_converter         = _costmap_converter_loader.createInstance(_costmap_conv_params.costmap_converter_plugin);
                 std::string converter_name = _costmap_converter_loader.getName(_costmap_conv_params.costmap_converter_plugin);
-                // replace '::' by '/' to convert the c++ namespace to a NodeHandle namespace
+                // 将'::'替换为'/'，以将C++命名空间转换为NodeHandle命名空间
                 boost::replace_all(converter_name, "::", "/");
                 _costmap_converter->setOdomTopic(_params.odom_topic);
                 _costmap_converter->initialize(ros::NodeHandle(nh, "costmap_converter/" + converter_name));
@@ -179,14 +179,14 @@ void MpcLocalPlannerROS::initialize(std::string name, tf2_ros::Buffer* tf, costm
         else
             ROS_INFO("No costmap conversion plugin specified. All occupied costmap cells are treaten as point obstacles.");
 
-        // Get footprint of the robot and minimum and maximum distance from the center of the robot to its footprint vertices.
+        // 获取机器人的足迹，以及从机器人中心到其足迹顶点的最小和最大距离
         _footprint_spec = _costmap_ros->getRobotFootprint();
         costmap_2d::calculateMinAndMaxDistances(_footprint_spec, _robot_inscribed_radius, _robot_circumscribed_radius);
 
-        // init the odom helper to receive the robot's velocity from odom messages
+        // 初始化里程计助手以从里程计消息中接收机器人的速度
         _odom_helper.setOdomTopic(_params.odom_topic);
 
-        // setup dynamic reconfigure
+        // 设置动态重配置
         ros::NodeHandle controller_nh(nh, "controller");
         dynamic_controller_recfg_ = boost::make_shared<dynamic_reconfigure::Server<ControllerReconfigureConfig>>(controller_nh);
         dynamic_reconfigure::Server<ControllerReconfigureConfig>::CallbackType controller_cb =
@@ -205,20 +205,20 @@ void MpcLocalPlannerROS::initialize(std::string name, tf2_ros::Buffer* tf, costm
             boost::bind(&MpcLocalPlannerROS::reconfigureFootprintCB, this, _1, _2);
         dynamic_footprint_recfg_->setCallback(footprint_cb);
 
-        // validate optimization footprint and costmap footprint
+        // 验证优化足迹和代价地图足迹
         validateFootprints(_robot_model->getInscribedRadius(), _robot_inscribed_radius, _controller.getInequalityConstraint()->getMinimumDistance());
 
-        // setup callback for custom obstacles
+        // 设置自定义障碍物的回调函数
         _custom_obst_sub = nh.subscribe("obstacles", 1, &MpcLocalPlannerROS::customObstacleCB, this);
 
-        // setup callback for custom via-points
+        // 设置自定义路径点的回调函数
         _via_points_sub = nh.subscribe("via_points", 1, &MpcLocalPlannerROS::customViaPointsCB, this);
 
-        // additional move base params
+        // 其他move_base参数
         ros::NodeHandle nh_move_base("~");
         nh_move_base.param("controller_frequency", _params.controller_frequency, _params.controller_frequency);
 
-        // set initialized flag
+        // 设置已初始化标志
         _initialized = true;
 
         ROS_DEBUG("mpc_local_planner plugin initialized.");
@@ -229,23 +229,31 @@ void MpcLocalPlannerROS::initialize(std::string name, tf2_ros::Buffer* tf, costm
     }
 }
 
+/**
+ * @brief 设置全局路径计划
+ *
+ * 该函数用于将全局路径计划设置到局部规划器中。
+ *
+ * @param orig_global_plan 输入的全局路径计划，包含一系列的目标位姿。
+ * @return bool 返回true表示设置成功，返回false表示设置失败（如插件未初始化）。
+ */
 bool MpcLocalPlannerROS::setPlan(const std::vector<geometry_msgs::PoseStamped>& orig_global_plan)
 {
-    // check if plugin is initialized
+    // 检查插件是否已初始化
     if (!_initialized)
     {
         ROS_ERROR("mpc_local_planner has not been initialized, please call initialize() before using this planner");
         return false;
     }
 
-    // store the global plan
+    // 存储全局路径计划
     _global_plan.clear();
     _global_plan = orig_global_plan;
 
-    // we do not clear the local planner here, since setPlan is called frequently whenever the global planner updates the plan.
+    // 这里不清除局部规划器，因为每当全局规划器更新计划时，setPlan 会被频繁调用。
-    // the local planner checks whether it is required to reinitialize the trajectory or not within each velocity computation step.
+    // 局部规划器在每次速度计算步骤中检查是否需要重新初始化轨迹。
 
-    // reset goal_reached_ flag
+    // 重置目标到达标志
     _goal_reached = false;
 
     return true;