Add dynamic reconfigure

master
kosmastsk 2020-08-12 20:35:34 +03:00
parent 8a5980a7ae
commit ae89b1966b
4 changed files with 90 additions and 21 deletions

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@ -132,11 +132,11 @@ set(EXTERNAL_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
#add dynamic reconfigure api
#find_package(catkin REQUIRED dynamic_reconfigure)
generate_dynamic_reconfigure_options(
cfg/mpc_reconfigure.cfg
)
###################################
## catkin specific configuration ##
@ -150,7 +150,7 @@ set(EXTERNAL_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
catkin_package(
INCLUDE_DIRS include ${EXTERNAL_INCLUDE_DIRS}
LIBRARIES mpc_local_planner_numerics mpc_local_planner_optimization
CATKIN_DEPENDS roscpp mpc_local_planner_msgs control_box_rst teb_local_planner
CATKIN_DEPENDS roscpp mpc_local_planner_msgs control_box_rst teb_local_planner dynamic_reconfigure
# DEPENDS
)
@ -188,6 +188,11 @@ add_library(mpc_local_planner
src/mpc_local_planner_ros.cpp
)
# Dynamic reconfigure: make sure configure headers are built before any node using them
add_dependencies(mpc_local_planner ${PROJECT_NAME}_gencfg)
# Generate messages before compiling the lib
add_dependencies(mpc_local_planner ${PROJECT_NAME}_generate_messages_cpp)
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide

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@ -0,0 +1,50 @@
#!/usr/bin/env python
from dynamic_reconfigure.parameter_generator_catkin import *
gen = ParameterGenerator()
# This unusual line allows to reuse existing parameter definitions
# that concern all localplanners
#add_generic_localplanner_params(gen)
# For integers and doubles:
# Name Type Reconfiguration level
# Description
# Default Min Max
grp_controller = gen.add_group("Controller", type="tab")
# Controller
grp_controller.add("xy_goal_tolerance", double_t, 0, "Allowed final euclidean distance to the goal position", 0.2, 0, 1)
grp_controller.add("yaw_goal_tolerance", double_t, 0, "Allowed final orientation error to the goal orientation", 0.1, 0, 1)
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)
grp_controller.add("global_plan_prune_distance", double_t, 0, "", 1.0, 0, 10)
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)
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)
grp_footprint = gen.add_group("Footprint", type="tab")
# Footprint model
grp_footprint.add("is_footprint_dynamic", bool_t, 0, "If true, updated the footprint before checking trajectory feasibility", False)
grp_collision = gen.add_group("Collision avoidance", type="tab")
# Collision avoidance
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)
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)
grp_collision.add("collision_check_min_resolution_angular", double_t, 0, "", 3.1415, -3.1415, 3.1415)
grp_collision.add("collision_check_no_poses", int_t, 0, "", -1, -1, 100)
exit(gen.generate("mpc_local_planner", "mpc_local_planner", "MpcLocalPlannerReconfigure"))

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@ -58,8 +58,8 @@
#include <costmap_converter/costmap_converter_interface.h>
// dynamic reconfigure
// #include <dynamic_reconfigure/server.h>
// #include <mpc_local_planner/MpcLocalPlannerReconfigureConfig.h>
#include <dynamic_reconfigure/server.h>
#include <mpc_local_planner/MpcLocalPlannerReconfigureConfig.h>
#include <boost/shared_ptr.hpp>
@ -221,6 +221,11 @@ class MpcLocalPlannerROS : public nav_core::BaseLocalPlanner, public mbf_costmap
*/
static double getNumberFromXMLRPC(XmlRpc::XmlRpcValue& value, const std::string& full_param_name);
/**
* @brief Return the internal config mutex
*/
boost::mutex& configMutex() { return config_mutex_; }
//@}
protected:
@ -264,7 +269,7 @@ class MpcLocalPlannerROS : public nav_core::BaseLocalPlanner, public mbf_costmap
* @param config Reference to the dynamic reconfigure config
* @param level Dynamic reconfigure level
*/
// void reconfigureCB(MpcLocalPlannerReconfigureConfig& config, uint32_t level);
void reconfigureCB(MpcLocalPlannerReconfigureConfig& config, uint32_t level);
/**
* @brief Callback for custom obstacles that are not obtained from the costmap
@ -373,8 +378,8 @@ class MpcLocalPlannerROS : public nav_core::BaseLocalPlanner, public mbf_costmap
pluginlib::ClassLoader<costmap_converter::BaseCostmapToPolygons> _costmap_converter_loader; //!< Load costmap converter plugins at runtime
boost::shared_ptr<costmap_converter::BaseCostmapToPolygons> _costmap_converter; //!< Store the current costmap_converter
// std::shared_ptr<dynamic_reconfigure::Server<MpcLocalPlannerReconfigureConfig>>
// dynamic_recfg_; //!< Dynamic reconfigure server to allow config modifications at runtime
boost::shared_ptr<dynamic_reconfigure::Server<MpcLocalPlannerReconfigureConfig>>
dynamic_recfg_; //!< Dynamic reconfigure server to allow config modifications at runtime
ros::Subscriber _custom_obst_sub; //!< Subscriber for custom obstacles received via a ObstacleMsg.
std::mutex _custom_obst_mutex; //!< Mutex that locks the obstacle array (multi-threaded)
costmap_converter::ObstacleArrayMsg _custom_obstacle_msg; //!< Copy of the most recent obstacle message
@ -423,6 +428,8 @@ class MpcLocalPlannerROS : public nav_core::BaseLocalPlanner, public mbf_costmap
} _params;
boost::mutex config_mutex_; //!< Mutex for config accesses and changes
struct CostmapConverterPlugin
{
std::string costmap_converter_plugin;

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@ -46,7 +46,7 @@ MpcLocalPlannerROS::MpcLocalPlannerROS()
_tf(nullptr),
_costmap_model(nullptr),
_costmap_converter_loader("costmap_converter", "costmap_converter::BaseCostmapToPolygons"),
/*dynamic_recfg_(NULL),*/
dynamic_recfg_(NULL),
_goal_reached(false),
_no_infeasible_plans(0),
/*last_preferred_rotdir_(RotType::none),*/
@ -56,12 +56,22 @@ MpcLocalPlannerROS::MpcLocalPlannerROS()
MpcLocalPlannerROS::~MpcLocalPlannerROS() {}
/*
void MpcLocalPlannerROS::reconfigureCB(TebLocalPlannerReconfigureConfig& config, uint32_t level)
void MpcLocalPlannerROS::reconfigureCB(MpcLocalPlannerReconfigureConfig& config, uint32_t level)
{
cfg_.reconfigure(config);
boost::mutex::scoped_lock l(config_mutex_);
_params.xy_goal_tolerance = config.xy_goal_tolerance;
_params.yaw_goal_tolerance = config.yaw_goal_tolerance;
_params.global_plan_overwrite_orientation = config.global_plan_overwrite_orientation;
_params.global_plan_prune_distance = config.global_plan_prune_distance;
_params.max_global_plan_lookahead_dist = config.max_global_plan_lookahead_dist;
_params.is_footprint_dynamic = config.is_footprint_dynamic;
_params.include_costmap_obstacles = config.include_costmap_obstacles;
_params.costmap_obstacles_behind_robot_dist = config.costmap_obstacles_behind_robot_dist;
_params.global_plan_viapoint_sep = config.global_plan_viapoint_sep;
_params.collision_check_min_resolution_angular = config.collision_check_min_resolution_angular;
_params.collision_check_no_poses = config.collision_check_no_poses;
}
*/
void MpcLocalPlannerROS::initialize(std::string name, tf2_ros::Buffer* tf, costmap_2d::Costmap2DROS* costmap_ros)
{
@ -161,12 +171,10 @@ void MpcLocalPlannerROS::initialize(std::string name, tf2_ros::Buffer* tf, costm
_odom_helper.setOdomTopic(_params.odom_topic);
// setup dynamic reconfigure
/*
dynamic_recfg_ = boost::make_shared<dynamic_reconfigure::Server<MpcLocalPlannerReconfigureConfig>>(nh);
dynamic_reconfigure::Server<MpcLocalPlannerReconfigureConfig>::CallbackType cb =
boost::bind(&MpcLocalPlanner::reconfigureCB, this, _1, _2);
boost::bind(&MpcLocalPlannerROS::reconfigureCB, this, _1, _2);
dynamic_recfg_->setCallback(cb);
*/
// validate optimization footprint and costmap footprint
validateFootprints(_robot_model->getInscribedRadius(), _robot_inscribed_radius, _controller.getInequalityConstraint()->getMinimumDistance());
@ -332,8 +340,7 @@ uint32_t MpcLocalPlannerROS::computeVelocityCommands(const geometry_msgs::PoseSt
// updateControlFromTwist()
// Do not allow config changes during the following optimization step
// TODO(roesmann): we need something similar in case we allow dynamic reconfiguration:
// boost::mutex::scoped_lock cfg_lock(cfg_.configMutex());
boost::mutex::scoped_lock cfg_lock(configMutex());
// Now perform the actual planning
// bool success = planner_->plan(transformed_plan, &robot_vel_, cfg_.goal_tolerance.free_goal_vel);