Add dynamic reconfigure
kosmastsk
parent
8a5980a7ae
commit
ae89b1966b
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@ -132,11 +132,11 @@ set(EXTERNAL_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
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## * uncomment the "generate_dynamic_reconfigure_options" section below
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## and list every .cfg file to be processed
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## Generate dynamic reconfigure parameters in the 'cfg' folder
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# generate_dynamic_reconfigure_options(
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# cfg/DynReconf1.cfg
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# cfg/DynReconf2.cfg
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# )
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#add dynamic reconfigure api
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#find_package(catkin REQUIRED dynamic_reconfigure)
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generate_dynamic_reconfigure_options(
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cfg/mpc_reconfigure.cfg
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)
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###################################
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## catkin specific configuration ##
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@ -150,7 +150,7 @@ set(EXTERNAL_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
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catkin_package(
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INCLUDE_DIRS include ${EXTERNAL_INCLUDE_DIRS}
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LIBRARIES mpc_local_planner_numerics mpc_local_planner_optimization
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CATKIN_DEPENDS roscpp mpc_local_planner_msgs control_box_rst teb_local_planner
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CATKIN_DEPENDS roscpp mpc_local_planner_msgs control_box_rst teb_local_planner dynamic_reconfigure
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# DEPENDS
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)
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@ -188,6 +188,11 @@ add_library(mpc_local_planner
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src/mpc_local_planner_ros.cpp
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)
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# Dynamic reconfigure: make sure configure headers are built before any node using them
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add_dependencies(mpc_local_planner ${PROJECT_NAME}_gencfg)
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# Generate messages before compiling the lib
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add_dependencies(mpc_local_planner ${PROJECT_NAME}_generate_messages_cpp)
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## Declare a C++ executable
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## With catkin_make all packages are built within a single CMake context
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## The recommended prefix ensures that target names across packages don't collide
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@ -0,0 +1,50 @@
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#!/usr/bin/env python
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from dynamic_reconfigure.parameter_generator_catkin import *
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gen = ParameterGenerator()
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# This unusual line allows to reuse existing parameter definitions
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# that concern all localplanners
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#add_generic_localplanner_params(gen)
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# For integers and doubles:
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# Name Type Reconfiguration level
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# Description
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# Default Min Max
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grp_controller = gen.add_group("Controller", type="tab")
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# Controller
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grp_controller.add("xy_goal_tolerance", double_t, 0, "Allowed final euclidean distance to the goal position", 0.2, 0, 1)
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grp_controller.add("yaw_goal_tolerance", double_t, 0, "Allowed final orientation error to the goal orientation", 0.1, 0, 1)
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grp_controller.add("global_plan_overwrite_orientation", bool_t, 0, "Some global planners are not considering the orientation at local subgoals between start and global goal, therefore determine it automatically", True)
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grp_controller.add("global_plan_prune_distance", double_t, 0, "", 1.0, 0, 10)
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grp_controller.add("max_global_plan_lookahead_dist", double_t, 0, "Specify maximum length (cumulative Euclidean distances) of the subset of the global plan taken into account for optimization [if 0 or negative: disabled; the length is also bounded by the local costmap size]", 1.5, 0, 10)
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grp_controller.add("global_plan_viapoint_sep", double_t, 0, "Min. separation between each two consecutive via-points extracted from the global plan [if negative: disabled]", -1, -1, 10)
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grp_footprint = gen.add_group("Footprint", type="tab")
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# Footprint model
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grp_footprint.add("is_footprint_dynamic", bool_t, 0, "If true, updated the footprint before checking trajectory feasibility", False)
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grp_collision = gen.add_group("Collision avoidance", type="tab")
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# Collision avoidance
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grp_collision.add("include_costmap_obstacles", bool_t, 0, "Specify whether the obstacles in the costmap should be taken into account directly (this is necessary if no seperate clustering and detection is implemented)", True)
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grp_collision.add("costmap_obstacles_behind_robot_dist", double_t, 0, "Limit the occupied local costmap obstacles taken into account for planning behind the robot (specify distance in meters)", 1.5, 0, 10)
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grp_collision.add("collision_check_min_resolution_angular", double_t, 0, "", 3.1415, -3.1415, 3.1415)
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grp_collision.add("collision_check_no_poses", int_t, 0, "", -1, -1, 100)
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exit(gen.generate("mpc_local_planner", "mpc_local_planner", "MpcLocalPlannerReconfigure"))
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@ -58,8 +58,8 @@
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#include <costmap_converter/costmap_converter_interface.h>
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// dynamic reconfigure
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// #include <dynamic_reconfigure/server.h>
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// #include <mpc_local_planner/MpcLocalPlannerReconfigureConfig.h>
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#include <dynamic_reconfigure/server.h>
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#include <mpc_local_planner/MpcLocalPlannerReconfigureConfig.h>
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#include <boost/shared_ptr.hpp>
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@ -221,6 +221,11 @@ class MpcLocalPlannerROS : public nav_core::BaseLocalPlanner, public mbf_costmap
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*/
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static double getNumberFromXMLRPC(XmlRpc::XmlRpcValue& value, const std::string& full_param_name);
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/**
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* @brief Return the internal config mutex
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*/
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boost::mutex& configMutex() { return config_mutex_; }
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//@}
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protected:
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@ -264,7 +269,7 @@ class MpcLocalPlannerROS : public nav_core::BaseLocalPlanner, public mbf_costmap
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* @param config Reference to the dynamic reconfigure config
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* @param level Dynamic reconfigure level
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*/
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// void reconfigureCB(MpcLocalPlannerReconfigureConfig& config, uint32_t level);
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void reconfigureCB(MpcLocalPlannerReconfigureConfig& config, uint32_t level);
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/**
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* @brief Callback for custom obstacles that are not obtained from the costmap
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@ -373,8 +378,8 @@ class MpcLocalPlannerROS : public nav_core::BaseLocalPlanner, public mbf_costmap
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pluginlib::ClassLoader<costmap_converter::BaseCostmapToPolygons> _costmap_converter_loader; //!< Load costmap converter plugins at runtime
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boost::shared_ptr<costmap_converter::BaseCostmapToPolygons> _costmap_converter; //!< Store the current costmap_converter
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// std::shared_ptr<dynamic_reconfigure::Server<MpcLocalPlannerReconfigureConfig>>
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// dynamic_recfg_; //!< Dynamic reconfigure server to allow config modifications at runtime
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boost::shared_ptr<dynamic_reconfigure::Server<MpcLocalPlannerReconfigureConfig>>
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dynamic_recfg_; //!< Dynamic reconfigure server to allow config modifications at runtime
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ros::Subscriber _custom_obst_sub; //!< Subscriber for custom obstacles received via a ObstacleMsg.
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std::mutex _custom_obst_mutex; //!< Mutex that locks the obstacle array (multi-threaded)
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costmap_converter::ObstacleArrayMsg _custom_obstacle_msg; //!< Copy of the most recent obstacle message
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@ -423,6 +428,8 @@ class MpcLocalPlannerROS : public nav_core::BaseLocalPlanner, public mbf_costmap
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} _params;
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boost::mutex config_mutex_; //!< Mutex for config accesses and changes
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struct CostmapConverterPlugin
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{
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std::string costmap_converter_plugin;
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@ -46,7 +46,7 @@ MpcLocalPlannerROS::MpcLocalPlannerROS()
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_tf(nullptr),
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_costmap_model(nullptr),
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_costmap_converter_loader("costmap_converter", "costmap_converter::BaseCostmapToPolygons"),
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/*dynamic_recfg_(NULL),*/
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dynamic_recfg_(NULL),
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_goal_reached(false),
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_no_infeasible_plans(0),
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/*last_preferred_rotdir_(RotType::none),*/
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@ -56,12 +56,22 @@ MpcLocalPlannerROS::MpcLocalPlannerROS()
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MpcLocalPlannerROS::~MpcLocalPlannerROS() {}
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/*
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void MpcLocalPlannerROS::reconfigureCB(TebLocalPlannerReconfigureConfig& config, uint32_t level)
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void MpcLocalPlannerROS::reconfigureCB(MpcLocalPlannerReconfigureConfig& config, uint32_t level)
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{
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cfg_.reconfigure(config);
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boost::mutex::scoped_lock l(config_mutex_);
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_params.xy_goal_tolerance = config.xy_goal_tolerance;
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_params.yaw_goal_tolerance = config.yaw_goal_tolerance;
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_params.global_plan_overwrite_orientation = config.global_plan_overwrite_orientation;
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_params.global_plan_prune_distance = config.global_plan_prune_distance;
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_params.max_global_plan_lookahead_dist = config.max_global_plan_lookahead_dist;
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_params.is_footprint_dynamic = config.is_footprint_dynamic;
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_params.include_costmap_obstacles = config.include_costmap_obstacles;
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_params.costmap_obstacles_behind_robot_dist = config.costmap_obstacles_behind_robot_dist;
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_params.global_plan_viapoint_sep = config.global_plan_viapoint_sep;
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_params.collision_check_min_resolution_angular = config.collision_check_min_resolution_angular;
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_params.collision_check_no_poses = config.collision_check_no_poses;
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}
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*/
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void MpcLocalPlannerROS::initialize(std::string name, tf2_ros::Buffer* tf, costmap_2d::Costmap2DROS* costmap_ros)
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{
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@ -161,12 +171,10 @@ void MpcLocalPlannerROS::initialize(std::string name, tf2_ros::Buffer* tf, costm
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_odom_helper.setOdomTopic(_params.odom_topic);
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// setup dynamic reconfigure
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/*
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dynamic_recfg_ = boost::make_shared<dynamic_reconfigure::Server<MpcLocalPlannerReconfigureConfig>>(nh);
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dynamic_reconfigure::Server<MpcLocalPlannerReconfigureConfig>::CallbackType cb =
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boost::bind(&MpcLocalPlanner::reconfigureCB, this, _1, _2);
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boost::bind(&MpcLocalPlannerROS::reconfigureCB, this, _1, _2);
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dynamic_recfg_->setCallback(cb);
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*/
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// validate optimization footprint and costmap footprint
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validateFootprints(_robot_model->getInscribedRadius(), _robot_inscribed_radius, _controller.getInequalityConstraint()->getMinimumDistance());
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@ -332,8 +340,7 @@ uint32_t MpcLocalPlannerROS::computeVelocityCommands(const geometry_msgs::PoseSt
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// updateControlFromTwist()
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// Do not allow config changes during the following optimization step
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// TODO(roesmann): we need something similar in case we allow dynamic reconfiguration:
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// boost::mutex::scoped_lock cfg_lock(cfg_.configMutex());
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boost::mutex::scoped_lock cfg_lock(configMutex());
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// Now perform the actual planning
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// bool success = planner_->plan(transformed_plan, &robot_vel_, cfg_.goal_tolerance.free_goal_vel);
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