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416edce6c4
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8a5980a7ae
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@ -132,13 +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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#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_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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## 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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###################################
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## catkin specific configuration ##
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@ -151,8 +149,8 @@ generate_dynamic_reconfigure_options(
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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INCLUDE_DIRS include ${EXTERNAL_INCLUDE_DIRS}
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LIBRARIES mpc_local_planner_utils mpc_local_planner_optimal_control mpc_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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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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# DEPENDS
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)
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@ -190,9 +188,6 @@ 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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## 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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@ -1,28 +0,0 @@
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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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@ -1,33 +0,0 @@
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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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exit(gen.generate("mpc_local_planner", "mpc_local_planner", "ControllerReconfigure"))
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@ -1,22 +0,0 @@
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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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@ -58,10 +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/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 <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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@ -223,11 +221,6 @@ 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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@ -265,31 +258,13 @@ 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 controller node.
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* @brief Callback for the dynamic_reconfigure 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 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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// 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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@ -398,12 +373,8 @@ 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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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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// 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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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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@ -452,8 +423,6 @@ 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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@ -46,9 +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_controller_recfg_(NULL),
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dynamic_collision_recfg_(NULL),
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dynamic_footprint_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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@ -58,44 +56,22 @@ MpcLocalPlannerROS::MpcLocalPlannerROS()
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MpcLocalPlannerROS::~MpcLocalPlannerROS() {}
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void MpcLocalPlannerROS::reconfigureControllerCB(ControllerReconfigureConfig& config, uint32_t level)
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/*
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void MpcLocalPlannerROS::reconfigureCB(TebLocalPlannerReconfigureConfig& config, uint32_t level)
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{
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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.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.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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cfg_.reconfigure(config);
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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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// 检查插件是否已经初始化
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// check if the plugin is already initialized
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if (!_initialized)
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{
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// 创建一个Node Handle，使用插件的名称（如在move_base中加载）
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// create Node Handle with name of plugin (as used in move_base for loading)
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ros::NodeHandle nh("~/" + name);
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// 加载插件相关的主要参数
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// load plugin related main parameters
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nh.param("controller/xy_goal_tolerance", _params.xy_goal_tolerance, _params.xy_goal_tolerance);
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nh.param("controller/yaw_goal_tolerance", _params.yaw_goal_tolerance, _params.yaw_goal_tolerance);
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nh.param("controller/global_plan_overwrite_orientation", _params.global_plan_overwrite_orientation,
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@ -105,11 +81,9 @@ void MpcLocalPlannerROS::initialize(std::string name, tf2_ros::Buffer* tf, costm
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nh.param("controller/global_plan_viapoint_sep", _params.global_plan_viapoint_sep, _params.global_plan_viapoint_sep);
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_controller.setInitialPlanEstimateOrientation(_params.global_plan_overwrite_orientation);
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// 特殊参数
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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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@ -118,46 +92,46 @@ void MpcLocalPlannerROS::initialize(std::string name, tf2_ros::Buffer* tf, costm
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nh.param("collision_avoidance/collision_check_min_resolution_angular", _params.collision_check_min_resolution_angular,
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_params.collision_check_min_resolution_angular);
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// 代价地图转换器插件相关参数
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// costmap converter plugin related parameters
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nh.param("costmap_converter_plugin", _costmap_conv_params.costmap_converter_plugin, _costmap_conv_params.costmap_converter_plugin);
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nh.param("costmap_converter_rate", _costmap_conv_params.costmap_converter_rate, _costmap_conv_params.costmap_converter_rate);
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nh.param("costmap_converter_spin_thread", _costmap_conv_params.costmap_converter_spin_thread,
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_costmap_conv_params.costmap_converter_spin_thread);
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// 预留一些内存用于障碍物
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// reserve some memory for obstacles
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_obstacles.reserve(700);
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// 初始化其他变量
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// init other variables
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_tf = tf;
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_costmap_ros = costmap_ros;
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_costmap = _costmap_ros->getCostmap(); // 应在MoveBase中进行锁定
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_costmap = _costmap_ros->getCostmap(); // locking should be done in MoveBase.
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_costmap_model = std::make_shared<base_local_planner::CostmapModel>(*_costmap);
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_global_frame = _costmap_ros->getGlobalFrameID();
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_robot_base_frame = _costmap_ros->getBaseFrameID();
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// 创建用于优化的机器人足迹/轮廓模型
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// create robot footprint/contour model for optimization
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_robot_model = getRobotFootprintFromParamServer(nh, _costmap_ros);
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// 创建规划器实例
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// create the planner instance
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if (!_controller.configure(nh, _obstacles, _robot_model, _via_points))
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{
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ROS_ERROR("Controller configuration failed.");
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return;
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}
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// 创建规划器实例
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// create visualization instance
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_publisher.initialize(nh, _controller.getRobotDynamics(), _global_frame);
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// 初始化代价地图到多边形的转换器
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// Initialize a costmap to polygon converter
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if (!_costmap_conv_params.costmap_converter_plugin.empty())
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{
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try
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{
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_costmap_converter = _costmap_converter_loader.createInstance(_costmap_conv_params.costmap_converter_plugin);
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std::string converter_name = _costmap_converter_loader.getName(_costmap_conv_params.costmap_converter_plugin);
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// 将'::'替换为'/'，以将C++命名空间转换为NodeHandle命名空间
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// replace '::' by '/' to convert the c++ namespace to a NodeHandle namespace
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boost::replace_all(converter_name, "::", "/");
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_costmap_converter->setOdomTopic(_params.odom_topic);
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_costmap_converter->initialize(ros::NodeHandle(nh, "costmap_converter/" + converter_name));
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@ -179,46 +153,35 @@ void MpcLocalPlannerROS::initialize(std::string name, tf2_ros::Buffer* tf, costm
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else
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ROS_INFO("No costmap conversion plugin specified. All occupied costmap cells are treaten as point obstacles.");
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// 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
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// Get footprint of the robot and minimum and maximum distance from the center of the robot to its footprint vertices.
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_footprint_spec = _costmap_ros->getRobotFootprint();
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costmap_2d::calculateMinAndMaxDistances(_footprint_spec, _robot_inscribed_radius, _robot_circumscribed_radius);
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// 初始化里程计助手以从里程计消息中接收机器人的速度
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// init the odom helper to receive the robot's velocity from odom messages
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_odom_helper.setOdomTopic(_params.odom_topic);
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// 设置动态重配置
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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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// 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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dynamic_recfg_->setCallback(cb);
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*/
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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);
|
||||
dynamic_reconfigure::Server<CollisionReconfigureConfig>::CallbackType collision_cb =
|
||||
boost::bind(&MpcLocalPlannerROS::reconfigureCollisionCB, this, _1, _2);
|
||||
dynamic_collision_recfg_->setCallback(collision_cb);
|
||||
|
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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);
|
||||
|
||||
// 验证优化足迹和代价地图足迹
|
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// validate optimization footprint and costmap footprint
|
||||
validateFootprints(_robot_model->getInscribedRadius(), _robot_inscribed_radius, _controller.getInequalityConstraint()->getMinimumDistance());
|
||||
|
||||
// 设置自定义障碍物的回调函数
|
||||
// setup callback for custom obstacles
|
||||
_custom_obst_sub = nh.subscribe("obstacles", 1, &MpcLocalPlannerROS::customObstacleCB, this);
|
||||
|
||||
// 设置自定义路径点的回调函数
|
||||
// setup callback for custom via-points
|
||||
_via_points_sub = nh.subscribe("via_points", 1, &MpcLocalPlannerROS::customViaPointsCB, this);
|
||||
|
||||
// 其他move_base参数
|
||||
// additional move base params
|
||||
ros::NodeHandle nh_move_base("~");
|
||||
nh_move_base.param("controller_frequency", _params.controller_frequency, _params.controller_frequency);
|
||||
|
||||
// 设置已初始化标志
|
||||
// set initialized flag
|
||||
_initialized = true;
|
||||
|
||||
ROS_DEBUG("mpc_local_planner plugin initialized.");
|
||||
|
|
@ -229,31 +192,23 @@ 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)
|
||||
{
|
||||
// 检查插件是否已初始化
|
||||
// check if plugin is initialized
|
||||
if (!_initialized)
|
||||
{
|
||||
ROS_ERROR("mpc_local_planner has not been initialized, please call initialize() before using this planner");
|
||||
return false;
|
||||
}
|
||||
|
||||
// 存储全局路径计划
|
||||
// store the global plan
|
||||
_global_plan.clear();
|
||||
_global_plan = orig_global_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。
|
||||
// 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。
|
||||
// we do not clear the local planner here, since setPlan is called frequently whenever the global planner updates the plan.
|
||||
// the local planner checks whether it is required to reinitialize the trajectory or not within each velocity computation step.
|
||||
|
||||
// 重置目标到达标志
|
||||
// reset goal_reached_ flag
|
||||
_goal_reached = false;
|
||||
|
||||
return true;
|
||||
|
|
@ -377,7 +332,8 @@ uint32_t MpcLocalPlannerROS::computeVelocityCommands(const geometry_msgs::PoseSt
|
|||
// updateControlFromTwist()
|
||||
|
||||
// Do not allow config changes during the following optimization step
|
||||
boost::mutex::scoped_lock cfg_lock(configMutex());
|
||||
// TODO(roesmann): we need something similar in case we allow dynamic reconfiguration:
|
||||
// boost::mutex::scoped_lock cfg_lock(cfg_.configMutex());
|
||||
|
||||
// Now perform the actual planning
|
||||
// bool success = planner_->plan(transformed_plan, &robot_vel_, cfg_.goal_tolerance.free_goal_vel);
|
||||
|
|
|
|||
|
|
@ -20,7 +20,6 @@
|
|||
<exec_depend>move_base</exec_depend>
|
||||
<exec_depend>map_server</exec_depend>
|
||||
<exec_depend>amcl</exec_depend>
|
||||
<exec_depend>global_planner</exec_depend>
|
||||
|
||||
|
||||
<!-- The export tag contains other, unspecified, tags -->
|
||||
|
|
|
|||
Loading…
Reference in New Issue