Prevent reconfigure from overwriting params at the initialization
Matija
parent
9700f11f70
commit
fc983b69ef
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@ -135,7 +135,9 @@ set(EXTERNAL_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
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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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cfg/mpc_collision.cfg
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cfg/mpc_controller.cfg
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cfg/mpc_footprint.cfg
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)
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###################################
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@ -0,0 +1,28 @@
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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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# Collision avoidance
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grp_collision = gen.add_group("Collision avoidance", type="tab")
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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", "CollisionReconfigure"))
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@ -29,22 +29,5 @@ grp_controller.add("max_global_plan_lookahead_dist", double_t, 0, "Specify maxim
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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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exit(gen.generate("mpc_local_planner", "mpc_local_planner", "ControllerReconfigure"))
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@ -0,0 +1,22 @@
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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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# Footprint model
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grp_footprint = gen.add_group("Footprint", type="tab")
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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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exit(gen.generate("mpc_local_planner", "mpc_local_planner", "FootprintReconfigure"))
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@ -59,7 +59,9 @@
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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 <mpc_local_planner/ControllerReconfigureConfig.h>
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#include <mpc_local_planner/CollisionReconfigureConfig.h>
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#include <mpc_local_planner/FootprintReconfigureConfig.h>
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#include <boost/shared_ptr.hpp>
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@ -263,13 +265,31 @@ class MpcLocalPlannerROS : public nav_core::BaseLocalPlanner, public mbf_costmap
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void updateViaPointsContainer(const std::vector<geometry_msgs::PoseStamped>& transformed_plan, double min_separation);
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/**
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* @brief Callback for the dynamic_reconfigure node.
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* @brief Callback for the dynamic_reconfigure controller node.
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*
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* This callback allows to modify parameters dynamically at runtime without restarting the node
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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 reconfigureControllerCB(ControllerReconfigureConfig& config, uint32_t level);
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/**
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* @brief Callback for the dynamic_reconfigure collision node.
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*
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* This callback allows to modify parameters dynamically at runtime without restarting the node
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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 reconfigureCollisionCB(CollisionReconfigureConfig& config, uint32_t level);
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/**
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* @brief Callback for the dynamic_reconfigure footprint collision node.
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*
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* This callback allows to modify parameters dynamically at runtime without restarting the node
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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 reconfigureFootprintCB(FootprintReconfigureConfig& 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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@ -378,8 +398,12 @@ 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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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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boost::shared_ptr<dynamic_reconfigure::Server<ControllerReconfigureConfig>>
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dynamic_controller_recfg_; //!< Dynamic reconfigure server to allow config modifications at runtime
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boost::shared_ptr<dynamic_reconfigure::Server<CollisionReconfigureConfig>>
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dynamic_collision_recfg_; //!< Dynamic reconfigure server to allow config modifications at runtime
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boost::shared_ptr<dynamic_reconfigure::Server<FootprintReconfigureConfig>>
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dynamic_footprint_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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@ -46,7 +46,9 @@ 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_controller_recfg_(NULL),
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dynamic_collision_recfg_(NULL),
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dynamic_footprint_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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@ -56,7 +58,7 @@ MpcLocalPlannerROS::MpcLocalPlannerROS()
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MpcLocalPlannerROS::~MpcLocalPlannerROS() {}
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void MpcLocalPlannerROS::reconfigureCB(MpcLocalPlannerReconfigureConfig& config, uint32_t level)
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void MpcLocalPlannerROS::reconfigureControllerCB(ControllerReconfigureConfig& config, uint32_t level)
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{
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boost::mutex::scoped_lock l(config_mutex_);
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@ -65,10 +67,22 @@ void MpcLocalPlannerROS::reconfigureCB(MpcLocalPlannerReconfigureConfig& config,
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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.global_plan_viapoint_sep = config.global_plan_viapoint_sep;
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}
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void MpcLocalPlannerROS::reconfigureFootprintCB(FootprintReconfigureConfig& config, uint32_t level)
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{
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boost::mutex::scoped_lock l(config_mutex_);
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_params.is_footprint_dynamic = config.is_footprint_dynamic;
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}
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void MpcLocalPlannerROS::reconfigureCollisionCB(CollisionReconfigureConfig& config, uint32_t level)
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{
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boost::mutex::scoped_lock l(config_mutex_);
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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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@ -93,7 +107,9 @@ void MpcLocalPlannerROS::initialize(std::string name, tf2_ros::Buffer* tf, costm
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// special parameters
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nh.param("odom_topic", _params.odom_topic, _params.odom_topic);
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nh.param("footprint_model/is_footprint_dynamic", _params.is_footprint_dynamic, _params.is_footprint_dynamic);
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nh.param("collision_avoidance/include_costmap_obstacles", _params.include_costmap_obstacles, _params.include_costmap_obstacles);
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nh.param("collision_avoidance/costmap_obstacles_behind_robot_dist", _params.costmap_obstacles_behind_robot_dist,
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_params.costmap_obstacles_behind_robot_dist);
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@ -171,10 +187,23 @@ 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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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(&MpcLocalPlannerROS::reconfigureCB, this, _1, _2);
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dynamic_recfg_->setCallback(cb);
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ros::NodeHandle controller_nh(nh, "controller");
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dynamic_controller_recfg_ = boost::make_shared<dynamic_reconfigure::Server<ControllerReconfigureConfig>>(controller_nh);
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dynamic_reconfigure::Server<ControllerReconfigureConfig>::CallbackType controller_cb =
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boost::bind(&MpcLocalPlannerROS::reconfigureControllerCB, this, _1, _2);
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dynamic_controller_recfg_->setCallback(controller_cb);
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ros::NodeHandle collision_nh(nh, "collision");
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dynamic_collision_recfg_ = boost::make_shared<dynamic_reconfigure::Server<CollisionReconfigureConfig>>(collision_nh);
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dynamic_reconfigure::Server<CollisionReconfigureConfig>::CallbackType collision_cb =
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boost::bind(&MpcLocalPlannerROS::reconfigureCollisionCB, this, _1, _2);
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dynamic_collision_recfg_->setCallback(collision_cb);
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ros::NodeHandle footprint_nh(nh, "footprint_model");
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dynamic_footprint_recfg_ = boost::make_shared<dynamic_reconfigure::Server<FootprintReconfigureConfig>>(footprint_nh);
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dynamic_reconfigure::Server<FootprintReconfigureConfig>::CallbackType footprint_cb =
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boost::bind(&MpcLocalPlannerROS::reconfigureFootprintCB, this, _1, _2);
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dynamic_footprint_recfg_->setCallback(footprint_cb);
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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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