Prevent reconfigure from overwriting params at the initialization

master
Matija 2020-12-13 14:52:26 +01:00
parent 9700f11f70
commit fc983b69ef
6 changed files with 119 additions and 31 deletions

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@ -135,7 +135,9 @@ set(EXTERNAL_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
#add dynamic reconfigure api
#find_package(catkin REQUIRED dynamic_reconfigure)
generate_dynamic_reconfigure_options(
cfg/mpc_reconfigure.cfg
cfg/mpc_collision.cfg
cfg/mpc_controller.cfg
cfg/mpc_footprint.cfg
)
###################################

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@ -0,0 +1,28 @@
#!/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
# Collision avoidance
grp_collision = gen.add_group("Collision avoidance", type="tab")
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", "CollisionReconfigure"))

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@ -29,22 +29,5 @@ grp_controller.add("max_global_plan_lookahead_dist", double_t, 0, "Specify maxim
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"))
exit(gen.generate("mpc_local_planner", "mpc_local_planner", "ControllerReconfigure"))

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@ -0,0 +1,22 @@
#!/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
# Footprint model
grp_footprint = gen.add_group("Footprint", type="tab")
grp_footprint.add("is_footprint_dynamic", bool_t, 0, "If true, updated the footprint before checking trajectory feasibility", False)
exit(gen.generate("mpc_local_planner", "mpc_local_planner", "FootprintReconfigure"))

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@ -59,7 +59,9 @@
// dynamic reconfigure
#include <dynamic_reconfigure/server.h>
#include <mpc_local_planner/MpcLocalPlannerReconfigureConfig.h>
#include <mpc_local_planner/ControllerReconfigureConfig.h>
#include <mpc_local_planner/CollisionReconfigureConfig.h>
#include <mpc_local_planner/FootprintReconfigureConfig.h>
#include <boost/shared_ptr.hpp>
@ -263,13 +265,31 @@ class MpcLocalPlannerROS : public nav_core::BaseLocalPlanner, public mbf_costmap
void updateViaPointsContainer(const std::vector<geometry_msgs::PoseStamped>& transformed_plan, double min_separation);
/**
* @brief Callback for the dynamic_reconfigure node.
* @brief Callback for the dynamic_reconfigure controller node.
*
* This callback allows to modify parameters dynamically at runtime without restarting the node
* @param config Reference to the dynamic reconfigure config
* @param level Dynamic reconfigure level
*/
void reconfigureCB(MpcLocalPlannerReconfigureConfig& config, uint32_t level);
void reconfigureControllerCB(ControllerReconfigureConfig& config, uint32_t level);
/**
* @brief Callback for the dynamic_reconfigure collision node.
*
* This callback allows to modify parameters dynamically at runtime without restarting the node
* @param config Reference to the dynamic reconfigure config
* @param level Dynamic reconfigure level
*/
void reconfigureCollisionCB(CollisionReconfigureConfig& config, uint32_t level);
/**
* @brief Callback for the dynamic_reconfigure footprint collision node.
*
* This callback allows to modify parameters dynamically at runtime without restarting the node
* @param config Reference to the dynamic reconfigure config
* @param level Dynamic reconfigure level
*/
void reconfigureFootprintCB(FootprintReconfigureConfig& config, uint32_t level);
/**
* @brief Callback for custom obstacles that are not obtained from the costmap
@ -378,8 +398,12 @@ 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
boost::shared_ptr<dynamic_reconfigure::Server<MpcLocalPlannerReconfigureConfig>>
dynamic_recfg_; //!< Dynamic reconfigure server to allow config modifications at runtime
boost::shared_ptr<dynamic_reconfigure::Server<ControllerReconfigureConfig>>
dynamic_controller_recfg_; //!< Dynamic reconfigure server to allow config modifications at runtime
boost::shared_ptr<dynamic_reconfigure::Server<CollisionReconfigureConfig>>
dynamic_collision_recfg_; //!< Dynamic reconfigure server to allow config modifications at runtime
boost::shared_ptr<dynamic_reconfigure::Server<FootprintReconfigureConfig>>
dynamic_footprint_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

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@ -46,7 +46,9 @@ MpcLocalPlannerROS::MpcLocalPlannerROS()
_tf(nullptr),
_costmap_model(nullptr),
_costmap_converter_loader("costmap_converter", "costmap_converter::BaseCostmapToPolygons"),
dynamic_recfg_(NULL),
dynamic_controller_recfg_(NULL),
dynamic_collision_recfg_(NULL),
dynamic_footprint_recfg_(NULL),
_goal_reached(false),
_no_infeasible_plans(0),
/*last_preferred_rotdir_(RotType::none),*/
@ -56,7 +58,7 @@ MpcLocalPlannerROS::MpcLocalPlannerROS()
MpcLocalPlannerROS::~MpcLocalPlannerROS() {}
void MpcLocalPlannerROS::reconfigureCB(MpcLocalPlannerReconfigureConfig& config, uint32_t level)
void MpcLocalPlannerROS::reconfigureControllerCB(ControllerReconfigureConfig& config, uint32_t level)
{
boost::mutex::scoped_lock l(config_mutex_);
@ -65,10 +67,22 @@ void MpcLocalPlannerROS::reconfigureCB(MpcLocalPlannerReconfigureConfig& config,
_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.global_plan_viapoint_sep = config.global_plan_viapoint_sep;
}
void MpcLocalPlannerROS::reconfigureFootprintCB(FootprintReconfigureConfig& config, uint32_t level)
{
boost::mutex::scoped_lock l(config_mutex_);
_params.is_footprint_dynamic = config.is_footprint_dynamic;
}
void MpcLocalPlannerROS::reconfigureCollisionCB(CollisionReconfigureConfig& config, uint32_t level)
{
boost::mutex::scoped_lock l(config_mutex_);
_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;
}
@ -93,7 +107,9 @@ void MpcLocalPlannerROS::initialize(std::string name, tf2_ros::Buffer* tf, costm
// special parameters
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);
nh.param("collision_avoidance/include_costmap_obstacles", _params.include_costmap_obstacles, _params.include_costmap_obstacles);
nh.param("collision_avoidance/costmap_obstacles_behind_robot_dist", _params.costmap_obstacles_behind_robot_dist,
_params.costmap_obstacles_behind_robot_dist);
@ -171,10 +187,23 @@ 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(&MpcLocalPlannerROS::reconfigureCB, this, _1, _2);
dynamic_recfg_->setCallback(cb);
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 =
boost::bind(&MpcLocalPlannerROS::reconfigureControllerCB, this, _1, _2);
dynamic_controller_recfg_->setCallback(controller_cb);
ros::NodeHandle collision_nh(nh, "collision");
dynamic_collision_recfg_ = boost::make_shared<dynamic_reconfigure::Server<CollisionReconfigureConfig>>(collision_nh);
dynamic_reconfigure::Server<CollisionReconfigureConfig>::CallbackType collision_cb =
boost::bind(&MpcLocalPlannerROS::reconfigureCollisionCB, this, _1, _2);
dynamic_collision_recfg_->setCallback(collision_cb);
ros::NodeHandle footprint_nh(nh, "footprint_model");
dynamic_footprint_recfg_ = boost::make_shared<dynamic_reconfigure::Server<FootprintReconfigureConfig>>(footprint_nh);
dynamic_reconfigure::Server<FootprintReconfigureConfig>::CallbackType footprint_cb =
boost::bind(&MpcLocalPlannerROS::reconfigureFootprintCB, this, _1, _2);
dynamic_footprint_recfg_->setCallback(footprint_cb);
// validate optimization footprint and costmap footprint
validateFootprints(_robot_model->getInscribedRadius(), _robot_inscribed_radius, _controller.getInequalityConstraint()->getMinimumDistance());