-
一套简单的机器人短途路径规划算法
适用场景
1. 机器人要尽可能走直线 2. 遇到障碍物需要机器人停住, 不去尝试绕开障碍物- 1
- 2
效果
- 机器人在收到目标点后, global_planner先生成一条直达该点的路径
- 机器人转向目标点
- 机器人移动至目标点
- 机器人旋转到目标位姿
全局路径规划
具体可以参考上篇文章, 修改了ROS自带navigation包中的carrot_planner, 使之具有以下特点
- global_plan这个vector中包含的路径点的数量增加, 适配局部路径规划
- 为global_plan中各个路径点添加位姿
- 可以将global_plan生成的路径以posearray的形式发布出来, 可以在rviz中监测
图中的红色密集箭头即为global_plan生成的全局路径, 话题为
/move_base_node/SimplePlanner/global_path局部路径规划
参照ftc_local_planner进行修改, 特点如下
-
在重复修改终点时, 机器人不会有明显的减速, 停止, 再加速的过程
-
添加在旋转前的障碍物判定, 模拟自身旋转一周, 如果有碰撞风险则阻止此次旋转(参考…忘了抄的那里的了, 应该是dwa吧?)
base_local_planner::WorldModel* world_model_; ///< @brief The world model that the controller will use double FTCPlannerROS::footprintCost(double x_i, double y_i, double theta_i) { std::vector<geometry_msgs::Point> footprint = costmap->getRobotFootprint(); double footprint_cost = world_model_->footprintCost(x_i, y_i, theta_i, footprint); return footprint_cost; } //模拟旋转一周, 判断自身是否有几率碰撞到周围的障碍物 bool FTCPlannerROS::isRotateLegal() { // ROS_ERROR("isRotateLegal is calling!!!"); const double full_rotation_range = 2 * M_PI; // 360 degrees const double angle_increment = 0.01; // 这里的currenet_control_point是ftc在运行过程中生成的控制点, 本质是在global_plan中提取出来的一个位姿 double currentX = current_control_point.translation().x(); double currentY = current_control_point.translation().y(); double currentYaw = current_control_point.rotation().eulerAngles(0, 1, 2).z(); for (double angle = 0; angle < full_rotation_range; angle += angle_increment) { double rotate_footprint_cost = footprintCost(currentX, currentY,(currentYaw + angle)); if(rotate_footprint_cost >= costmap_2d::LETHAL_OBSTACLE) { return false; } } return true; }- 1
- 2
- 3
- 4
- 5
- 6
- 7
- 8
- 9
- 10
- 11
- 12
- 13
- 14
- 15
- 16
- 17
- 18
- 19
- 20
- 21
- 22
- 23
- 24
- 25
- 26
- 27
- 28
完整代码
ftc_planner.hpp
#ifndef FTC_LOCAL_PLANNER_FTC_PLANNER_H_ #define FTC_LOCAL_PLANNER_FTC_PLANNER_H_ #include#include "ftc_local_planner/PlannerGetProgress.h" #include "ftc_local_planner/recovery_behaviors.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "tf2_eigen/tf2_eigen.h" #include #include #include #include namespace ftc_local_planner { class FTCPlannerROS : public nav_core::BaseLocalPlanner { enum PlannerState { PRE_ROTATE, FOLLOWING, WAITING_FOR_GOAL_APPROACH, POST_ROTATE, FINISHED }; private: ros::ServiceServer progress_server; // State tracking PlannerState current_state; ros::Time state_entered_time; bool is_crashed; dynamic_reconfigure::Server<FTCPlannerROSConfig> *reconfig_server; tf2_ros::Buffer *tf_buffer; costmap_2d::Costmap2DROS *costmap; costmap_2d::Costmap2D* costmap_map_; base_local_planner::WorldModel* world_model_; ///< @brief The world model that the controller will use std::vector<geometry_msgs::PoseStamped> global_plan; ros::Publisher global_point_pub; ros::Publisher global_plan_pub; ros::Publisher progress_pub; ros::Publisher obstacle_marker_pub; ros::Publisher obstacle_observer_pub; FTCPlannerROSConfig config; Eigen::Affine3d current_control_point; /** * PID State */ double lat_error, lon_error, angle_error = 0.0; double last_lon_error = 0.0; double last_lat_error = 0.0; double last_angle_error = 0.0; double i_lon_error = 0.0; double i_lat_error = 0.0; double i_angle_error = 0.0; ros::Time last_time; /** * Speed ramp for acceleration and deceleration */ double current_movement_speed; /** * State for point interpolation */ uint32_t current_index; uint32_t obstacle_index; double current_progress; Eigen::Affine3d local_control_point; /** * Private members */ ros::Publisher pubPid; FailureDetector failure_detector_; //!< Detect if the robot got stucked ros::Time time_last_oscillation_; //!< Store at which time stamp the last oscillation was detected bool oscillation_detected_ = false; bool oscillation_warning_ = false; /** * odom_helper */ base_local_planner::OdometryHelperRos odom_helper_; std::string odom_topic_; double distanceLookahead(); PlannerState update_planner_state(); void update_control_point(double dt); void calculate_velocity_commands(double dt, geometry_msgs::Twist &cmd_vel); /** * @brief check for obstacles in path as well as collision at actual pose * @param max_points number of path segments (of global path) to check * @return true if collision will happen. */ bool checkCollision(int max_points); double footprintCost(double x_i, double y_i, double theta_i); bool isRotateLegal(); /** * @brief check if robot oscillates (only angular). Can be used to do some recovery * @param cmd_vel last velocity message send to robot * @return true if robot oscillates */ bool checkOscillation(geometry_msgs::Twist &cmd_vel); /** * @brief publish obstacles on path as marker array. * @brief If obstacle_points contains more elements than maxID, marker gets published and * @brief cleared afterwards. * @param obstacle_points already collected points to visualize * @param x X position in costmap * @param y Y position in costmap * @param cost cost value of cell * @param maxIDs num of markers before publishing * @return sum of `values`, or 0.0 if `values` is empty. */ void debugObstacle(visualization_msgs::Marker &obstacle_points, double x, double y, unsigned char cost, int maxIDs); double time_in_current_state() { return (ros::Time::now() - state_entered_time).toSec(); } void reconfigureCB(FTCPlannerROSConfig &config, uint32_t level); public: FTCPlannerROS(); ~FTCPlannerROS(); bool getProgress(ftc_local_planner::PlannerGetProgressRequest &req, ftc_local_planner::PlannerGetProgressResponse &res); bool setPlan(const std::vector<geometry_msgs::PoseStamped> &plan); void initialize(std::string name, tf2_ros::Buffer *tf, costmap_2d::Costmap2DROS *costmap_ros); bool computeVelocityCommands(geometry_msgs::Twist& cmd_vel); bool isGoalReached(); bool cancel(); }; }; #endif - 1
- 2
- 3
- 4
- 5
- 6
- 7
- 8
- 9
- 10
- 11
- 12
- 13
- 14
- 15
- 16
- 17
- 18
- 19
- 20
- 21
- 22
- 23
- 24
- 25
- 26
- 27
- 28
- 29
- 30
- 31
- 32
- 33
- 34
- 35
- 36
- 37
- 38
- 39
- 40
- 41
- 42
- 43
- 44
- 45
- 46
- 47
- 48
- 49
- 50
- 51
- 52
- 53
- 54
- 55
- 56
- 57
- 58
- 59
- 60
- 61
- 62
- 63
- 64
- 65
- 66
- 67
- 68
- 69
- 70
- 71
- 72
- 73
- 74
- 75
- 76
- 77
- 78
- 79
- 80
- 81
- 82
- 83
- 84
- 85
- 86
- 87
- 88
- 89
- 90
- 91
- 92
- 93
- 94
- 95
- 96
- 97
- 98
- 99
- 100
- 101
- 102
- 103
- 104
- 105
- 106
- 107
- 108
- 109
- 110
- 111
- 112
- 113
- 114
- 115
- 116
- 117
- 118
- 119
- 120
- 121
- 122
- 123
- 124
- 125
- 126
- 127
- 128
- 129
- 130
- 131
- 132
- 133
- 134
- 135
- 136
- 137
- 138
- 139
- 140
- 141
- 142
- 143
- 144
- 145
- 146
- 147
- 148
- 149
- 150
- 151
- 152
- 153
- 154
- 155
- 156
- 157
- 158
- 159
- 160
- 161
- 162
- 163
- 164
- 165
- 166
- 167
ftc_planner.cpp
#include#include PLUGINLIB_EXPORT_CLASS(ftc_local_planner::FTCPlannerROS, nav_core::BaseLocalPlanner) #define RET_SUCCESS 0 #define RET_COLLISION 104 #define RET_BLOCKED 109 namespace ftc_local_planner { FTCPlannerROS::FTCPlannerROS():odom_helper_("odom") { } void FTCPlannerROS::initialize(std::string name, tf2_ros::Buffer *tf, costmap_2d::Costmap2DROS *costmap_ros) { ros::NodeHandle private_nh("~/" + name); progress_server = private_nh.advertiseService( "planner_get_progress", &FTCPlannerROS::getProgress, this); global_point_pub = private_nh.advertise<geometry_msgs::PoseStamped>("global_point", 1); global_plan_pub = private_nh.advertise<nav_msgs::Path>("global_plan", 1, true); obstacle_marker_pub = private_nh.advertise<visualization_msgs::Marker>("costmap_marker", 10); obstacle_observer_pub = private_nh.advertise<std_msgs::Bool>("obstacle_detection", 10); costmap = costmap_ros; costmap_map_ = costmap->getCostmap(); world_model_ = new base_local_planner::CostmapModel(*costmap_map_); tf_buffer = tf; // Parameter for dynamic reconfigure reconfig_server = new dynamic_reconfigure::Server<FTCPlannerROSConfig>(private_nh); dynamic_reconfigure::Server<FTCPlannerROSConfig>::CallbackType cb = boost::bind(&FTCPlannerROS::reconfigureCB, this, _1, _2); reconfig_server->setCallback(cb); current_state = PRE_ROTATE; // PID Debugging topic if (config.debug_pid) { pubPid = private_nh.advertise<ftc_local_planner::PID>("debug_pid", 1, true); } // Recovery behavior initialization failure_detector_.setBufferLength(std::round(config.oscillation_recovery_min_duration * 10)); ROS_INFO("FTCLocalPlannerROS: Version 2 Init."); } void FTCPlannerROS::reconfigureCB(FTCPlannerROSConfig &c, uint32_t level) { if (c.restore_defaults) { reconfig_server->getConfigDefault(c); c.restore_defaults = false; } config = c; // just to be sure current_movement_speed = config.speed_slow; // set recovery behavior failure_detector_.setBufferLength(std::round(config.oscillation_recovery_min_duration * 10)); } bool FTCPlannerROS::setPlan(const std::vector<geometry_msgs::PoseStamped> &plan) { current_state = PRE_ROTATE; state_entered_time = ros::Time::now(); is_crashed = false; global_plan = plan; // if whole_distance is less than 0.1m then follow in detail, // else set control_point further to avoid discrete speed control. double whole_distance, diffX, diffY; diffX = global_plan[0].pose.position.x - global_plan[global_plan.size()-1].pose.position.x; diffY = global_plan[0].pose.position.y - global_plan[global_plan.size()-1].pose.position.y; whole_distance = std::sqrt(diffX * diffX + diffY * diffY); // if length of whole path is over 1 [m], set current_index ahead if(whole_distance >=1) current_index = 18; else current_index = 1; obstacle_index = 0; current_progress = 0.0; last_time = ros::Time::now(); current_movement_speed = config.speed_slow; lat_error = 0.0; lon_error = 0.0; angle_error = 0.0; i_lon_error = 0.0; i_lat_error = 0.0; i_angle_error = 0.0; nav_msgs::Path path; if (global_plan.size() > 2) { // duplicate last point global_plan.push_back(global_plan.back()); // give second from last point last oriantation as the point before that global_plan[global_plan.size() - 2].pose.orientation = global_plan[global_plan.size() - 3].pose.orientation; path.header = plan.front().header; path.poses = plan; } else { ROS_WARN_STREAM("FTCLocalPlannerROS: Global plan was too short. Need a minimum of 3 poses - Cancelling."); current_state = FINISHED; state_entered_time = ros::Time::now(); } global_plan_pub.publish(path); ROS_INFO_STREAM("FTCLocalPlannerROS: Got new global plan with " << plan.size() << " points."); return true; } FTCPlannerROS::~FTCPlannerROS() { if (reconfig_server != nullptr) { delete reconfig_server; reconfig_server = nullptr; } delete world_model_; } double FTCPlannerROS::distanceLookahead() { if (global_plan.size() < 2) { return 0; } Eigen::Quaternion<double> current_rot(current_control_point.linear()); Eigen::Affine3d last_straight_point = current_control_point; for (uint32_t i = current_index + 1; i < global_plan.size(); i++) { tf2::fromMsg(global_plan[i].pose, last_straight_point); // check, if direction is the same. if so, we add the distance Eigen::Quaternion<double> rot2(last_straight_point.linear()); if (abs(rot2.angularDistance(current_rot)) > config.speed_fast_threshold_angle * (M_PI / 180.0)) { break; } } return (last_straight_point.translation() - current_control_point.translation()).norm(); } bool FTCPlannerROS::computeVelocityCommands(geometry_msgs::Twist &cmd_vel) { ros::Time now = ros::Time::now(); double dt = now.toSec() - last_time.toSec(); last_time = now; if (is_crashed) { cmd_vel.linear.x = 0; cmd_vel.angular.z = 0; return false; } if (current_state == FINISHED) { cmd_vel.linear.x = 0; cmd_vel.angular.z = 0; return true; } // We're not crashed and not finished. // First, we update the control point if needed. This is needed since we need the local_control_point to calculate the next state. update_control_point(dt); // Then, update the planner state. auto new_planner_state = update_planner_state(); if (new_planner_state != current_state) { ROS_INFO_STREAM("FTCLocalPlannerROS: Switching to state " << new_planner_state); state_entered_time = ros::Time::now(); current_state = new_planner_state; } if (checkCollision(config.obstacle_lookahead)) { cmd_vel.linear.x = 0; cmd_vel.angular.z = 0; is_crashed = true; return false; } // Finally, we calculate the velocity commands. calculate_velocity_commands(dt, cmd_vel); if (is_crashed) { cmd_vel.linear.x = 0; cmd_vel.angular.z = 0; return false; } return true; } bool FTCPlannerROS::isGoalReached() { return current_state == FINISHED && !is_crashed; } bool FTCPlannerROS::cancel() { ROS_WARN_STREAM("FTCLocalPlannerROS: FTC planner was cancelled."); current_state = FINISHED; state_entered_time = ros::Time::now(); return true; } FTCPlannerROS::PlannerState FTCPlannerROS::update_planner_state() { switch (current_state) { case PRE_ROTATE: { if (time_in_current_state() > config.goal_timeout) { ROS_ERROR_STREAM("FTCLocalPlannerROS: Error reaching goal. config.goal_timeout (" << config.goal_timeout << ") reached - Timeout in PRE_ROTATE phase."); is_crashed = true; return FINISHED; } // calculate total distance, STOP if whole path is too short double whole_distance, diffX, diffY; diffX = global_plan[0].pose.position.x - global_plan[global_plan.size()-1].pose.position.x; diffY = global_plan[0].pose.position.y - global_plan[global_plan.size()-1].pose.position.y; whole_distance = std::sqrt(diffX * diffX + diffY * diffY); if (whole_distance <= 0.08) { ROS_ERROR("FTC plan is too short, abort!"); return FINISHED; } if (abs(angle_error) * (180.0 / M_PI) < config.max_goal_angle_error || !isRotateLegal()) { std::cout<<"current angle error: "<<angle_error<<std::endl; std::cout<<"current angle error in degree: "<<abs(angle_error) * (180.0 / M_PI)<<std::endl; std::cout<<"config.max_goal_angle_error: " << config.max_goal_angle_error<<std::endl; ROS_INFO_STREAM("FTCLocalPlannerROS: PRE_ROTATE finished. Starting following"); ROS_INFO("Switching state to FOLLOWING!!!"); return FOLLOWING; } } break; case FOLLOWING: { double distance = local_control_point.translation().norm(); // check for crash if (distance > config.max_follow_distance) { ROS_ERROR_STREAM("FTCLocalPlannerROS: Robot is far away from global plan. distance (" << distance << ") > config.max_follow_distance (" << config.max_follow_distance << ") It probably has crashed."); is_crashed = true; return FINISHED; } // check if we're done following if (current_index == global_plan.size() - 2) { ROS_INFO_STREAM("FTCLocalPlannerROS: switching planner to position mode"); ROS_INFO("FOLLOWING finished!"); ROS_INFO("Switching to WAITING_FOR_GOAL_APPROACH"); return WAITING_FOR_GOAL_APPROACH; } } break; case WAITING_FOR_GOAL_APPROACH: { double distance = local_control_point.translation().norm(); if (time_in_current_state() > config.goal_timeout) { ROS_WARN_STREAM("FTCLocalPlannerROS: Could not reach goal position. config.goal_timeout (" << config.goal_timeout << ") reached - Attempting final rotation anyways."); return POST_ROTATE; } if (distance < config.max_goal_distance_error) { ROS_INFO("WAITING_FOR_GOAL_APPROACH finished!"); ROS_INFO("Switching to POST_ROTATE!"); ROS_INFO_STREAM("FTCLocalPlannerROS: Reached goal position."); return POST_ROTATE; } } break; case POST_ROTATE: { if (time_in_current_state() > config.goal_timeout) { ROS_WARN_STREAM("FTCLocalPlannerROS: Could not reach goal rotation. config.goal_timeout (" << config.goal_timeout << ") reached"); return FINISHED; } // calculate total distance double total_distance=0.0; double diffX; double diffY; if (current_control_point.translation().x()) { diffX = current_control_point.translation().x() - global_plan[global_plan.size()-1].pose.position.x; diffY = current_control_point.translation().y() - global_plan[global_plan.size()-1].pose.position.y; } else { diffX = global_plan[0].pose.position.x - global_plan[global_plan.size()-1].pose.position.x; diffY = global_plan[0].pose.position.y - global_plan[global_plan.size()-1].pose.position.y; } total_distance = std::sqrt(diffX * diffX + diffY * diffY); if (total_distance <= 0.08) { ROS_ERROR("FTC plan is too short, abort!"); return FINISHED; } if (abs(angle_error) * (180.0 / M_PI) < config.max_goal_angle_error || !isRotateLegal()) { ROS_INFO_STREAM("FTCLocalPlannerROS: POST_ROTATE finished."); return FINISHED; } } break; case FINISHED: { ROS_INFO("Move finished!"); } break; } return current_state; } void FTCPlannerROS::update_control_point(double dt) { switch (current_state) { case PRE_ROTATE: { nav_msgs::Odometry current_odom; odom_helper_.getOdom(current_odom); // if current speed is over 0.02 [m/s] set control_point ahead. if(abs(current_odom.twist.twist.linear.x)>=0.02) tf2::fromMsg(global_plan[current_index].pose, current_control_point); else tf2::fromMsg(global_plan[1].pose, current_control_point); } break; case FOLLOWING: { // Normal planner operation double straight_dist = distanceLookahead(); double speed; if (straight_dist >= config.speed_fast_threshold) { speed = config.speed_fast; } else { speed = config.speed_slow; } if (speed > current_movement_speed) { // accelerate current_movement_speed += dt * config.acceleration; if (current_movement_speed > speed) current_movement_speed = speed; } else if (speed < current_movement_speed) { // decelerate current_movement_speed -= dt * config.acceleration; if (current_movement_speed < speed) current_movement_speed = speed; } double distance_to_move = dt * current_movement_speed; double angle_to_move = dt * config.speed_angular * (M_PI / 180.0); Eigen::Affine3d nextPose, currentPose; while (angle_to_move > 0 && distance_to_move > 0 && current_index < global_plan.size() - 2) { tf2::fromMsg(global_plan[current_index].pose, currentPose); tf2::fromMsg(global_plan[current_index + 1].pose, nextPose); double pose_distance = (nextPose.translation() - currentPose.translation()).norm(); Eigen::Quaternion<double> current_rot(currentPose.linear()); Eigen::Quaternion<double> next_rot(nextPose.linear()); double pose_distance_angular = current_rot.angularDistance(next_rot); if (pose_distance <= 0.0) { ROS_WARN_STREAM("FTCLocalPlannerROS: Skipping duplicate point in global plan."); current_index++; obstacle_index++; continue; } double remaining_distance_to_next_pose = pose_distance * (1.0 - current_progress); double remaining_angular_distance_to_next_pose = pose_distance_angular * (1.0 - current_progress); if (remaining_distance_to_next_pose < distance_to_move && remaining_angular_distance_to_next_pose < angle_to_move) { // we need to move further than the remaining distance_to_move. Skip to the next point and decrease distance_to_move. current_progress = 0.0; current_index++; obstacle_index++; distance_to_move -= remaining_distance_to_next_pose; angle_to_move -= remaining_angular_distance_to_next_pose; } else { // we cannot reach the next point yet, so we update the percentage double current_progress_distance = (pose_distance * current_progress + distance_to_move) / pose_distance; double current_progress_angle = (pose_distance_angular * current_progress + angle_to_move) / pose_distance_angular; current_progress = fmin(current_progress_angle, current_progress_distance); if (current_progress > 1.0) { ROS_WARN_STREAM("FTCLocalPlannerROS: FTC PLANNER: Progress > 1.0"); // current_progress = 1.0; } distance_to_move = 0; angle_to_move = 0; } } tf2::fromMsg(global_plan[current_index].pose, currentPose); tf2::fromMsg(global_plan[current_index + 1].pose, nextPose); // interpolate between points Eigen::Quaternion<double> rot1(currentPose.linear()); Eigen::Quaternion<double> rot2(nextPose.linear()); Eigen::Vector3d trans1 = currentPose.translation(); Eigen::Vector3d trans2 = nextPose.translation(); Eigen::Affine3d result; result.translation() = (1.0 - current_progress) * trans1 + current_progress * trans2; result.linear() = rot1.slerp(current_progress, rot2).toRotationMatrix(); current_control_point = result; } break; case POST_ROTATE: tf2::fromMsg(global_plan[global_plan.size() - 1].pose, current_control_point); break; case WAITING_FOR_GOAL_APPROACH: break; case FINISHED: break; } { geometry_msgs::PoseStamped viz; viz.header = global_plan[current_index].header; viz.pose = tf2::toMsg(current_control_point); global_point_pub.publish(viz); } auto map_to_base = tf_buffer->lookupTransform("base_link", "map", ros::Time(), ros::Duration(1.0)); tf2::doTransform(current_control_point, local_control_point, map_to_base); lat_error = local_control_point.translation().y(); lon_error = local_control_point.translation().x(); angle_error = local_control_point.rotation().eulerAngles(0, 1, 2).z(); } void FTCPlannerROS::calculate_velocity_commands(double dt, geometry_msgs::Twist &cmd_vel) { // check, if we're completely done if (current_state == FINISHED || is_crashed) { ROS_DEBUG_STREAM("current state==FINISHED!, set cme_vel = 0.0"); cmd_vel.linear.x = 0; cmd_vel.angular.z = 0; return; } i_lon_error += lon_error * dt; i_lat_error += lat_error * dt; i_angle_error += angle_error * dt; if (i_lon_error > config.ki_lon_max) { i_lon_error = config.ki_lon_max; } else if (i_lon_error < -config.ki_lon_max) { i_lon_error = -config.ki_lon_max; } if (i_lat_error > config.ki_lat_max) { i_lat_error = config.ki_lat_max; } else if (i_lat_error < -config.ki_lat_max) { i_lat_error = -config.ki_lat_max; } if (i_angle_error > config.ki_ang_max) { i_angle_error = config.ki_ang_max; } else if (i_angle_error < -config.ki_ang_max) { i_angle_error = -config.ki_ang_max; } double d_lat = (lat_error - last_lat_error) / dt; double d_lon = (lon_error - last_lon_error) / dt; double d_angle = (angle_error - last_angle_error) / dt; last_lat_error = lat_error; last_lon_error = lon_error; last_angle_error = angle_error; // linear movement is only allowed in FOLLOWING state // calculate linear speed if (current_state == FOLLOWING) { double lin_speed = lon_error * config.kp_lon + i_lon_error * config.ki_lon + d_lon * config.kd_lon; if (lin_speed < 0 && config.forward_only) { lin_speed = 0; } else { if (lin_speed > config.max_cmd_vel_speed) { lin_speed = config.max_cmd_vel_speed; } else if (lin_speed < -config.max_cmd_vel_speed) { lin_speed = -config.max_cmd_vel_speed; } if (lin_speed < 0) { lat_error *= -1.0; } } cmd_vel.linear.x = lin_speed; } else { cmd_vel.linear.x = 0.0; } // calculate angular speed if (current_state == FOLLOWING) { double ang_speed = angle_error * config.kp_ang + i_angle_error * config.ki_ang + d_angle * config.kd_ang + lat_error * config.kp_lat + i_lat_error * config.ki_lat + d_lat * config.kd_lat; if (ang_speed > config.max_cmd_vel_ang) { ang_speed = config.max_cmd_vel_ang; } else if (ang_speed < -config.max_cmd_vel_ang) { ang_speed = -config.max_cmd_vel_ang; } // check whether obstacle exists while rotating if (!isRotateLegal()) { ang_speed = 0; is_crashed = true; ROS_ERROR_STREAM("STOP ROTATE!!! Obstacle near by!"); } cmd_vel.angular.z = ang_speed; } else { double ang_speed = angle_error * config.kp_ang + i_angle_error * config.ki_ang + d_angle * config.kd_ang; if (ang_speed > config.max_cmd_vel_ang) { ang_speed = config.max_cmd_vel_ang; } else if (ang_speed < -config.max_cmd_vel_ang) { ang_speed = -config.max_cmd_vel_ang; } // check whether obstacle exists while rotating if (!isRotateLegal()) { ang_speed = 0; is_crashed = true; ROS_ERROR_STREAM("STOP ROTATE!!! Obstacle near by!"); } cmd_vel.angular.z = ang_speed; // check if robot oscillates bool is_oscillating = checkOscillation(cmd_vel); if (is_oscillating) { ang_speed = config.max_cmd_vel_ang; cmd_vel.angular.z = ang_speed; } } if (config.debug_pid) { ftc_local_planner::PID debugPidMsg; debugPidMsg.kp_lon_set = lon_error; // proportional debugPidMsg.kp_lat_set = lat_error * config.kp_lat; debugPidMsg.kp_lon_set = lon_error * config.kp_lon; debugPidMsg.kp_ang_set = angle_error * config.kp_ang; // integral debugPidMsg.ki_lat_set = i_lat_error * config.ki_lat; debugPidMsg.ki_lon_set = i_lon_error * config.ki_lon; debugPidMsg.ki_ang_set = i_angle_error * config.ki_ang; // diff debugPidMsg.kd_lat_set = d_lat * config.kd_lat; debugPidMsg.kd_lon_set = d_lon * config.kd_lon; debugPidMsg.kd_ang_set = d_angle * config.kd_ang; // errors debugPidMsg.lon_err = lon_error; debugPidMsg.lat_err = lat_error; debugPidMsg.ang_err = angle_error; // speeds debugPidMsg.ang_speed = cmd_vel.angular.z; debugPidMsg.lin_speed = cmd_vel.linear.x; pubPid.publish(debugPidMsg); } } bool FTCPlannerROS::getProgress(PlannerGetProgressRequest &req, PlannerGetProgressResponse &res) { res.index = current_index; return true; } bool FTCPlannerROS::checkCollision(int max_points) { unsigned int x; unsigned int y; std::vector<geometry_msgs::Point> footprint; visualization_msgs::Marker obstacle_marker; if (!config.check_obstacles) { return false; } // maximal costs unsigned char previous_cost = 255; // ensure look ahead not out of plan if (global_plan.size() < max_points) { max_points = global_plan.size(); } // calculate cost of footprint at robots actual pose if (config.obstacle_footprint) { costmap->getOrientedFootprint(footprint); for (int i = 0; i < footprint.size(); i++) { // check cost of each point of footprint if (costmap_map_->worldToMap(footprint[i].x, footprint[i].y, x, y)) { unsigned char costs = costmap_map_->getCost(x, y); if (costs >= costmap_2d::LETHAL_OBSTACLE) { ROS_WARN("FTCLocalPlannerROS: Possible collision of footprint at actual pose. Stop local planner."); std_msgs::Bool obstacle_msg; obstacle_msg.data = true; obstacle_observer_pub.publish(obstacle_msg); return true; } } } } for (int i = 0; i < max_points; i++) { geometry_msgs::PoseStamped x_pose; int index = obstacle_index + i; if (index > global_plan.size()) { index = global_plan.size(); } x_pose = global_plan[index]; if (costmap_map_->worldToMap(x_pose.pose.position.x, x_pose.pose.position.y, x, y)) { unsigned char costs = costmap_map_->getCost(x, y); if (config.debug_obstacle) { debugObstacle(obstacle_marker, x, y, costs, max_points); } // Near at obstacel if (costs > 0) { // Possible collision if (costs > 127 && costs > previous_cost) { ROS_WARN("FTCLocalPlannerROS: Possible collision. Stop local planner."); std_msgs::Bool obstacle_msg; obstacle_msg.data = true; obstacle_observer_pub.publish(obstacle_msg); return true; } } previous_cost = costs; } } return false; } bool FTCPlannerROS::isRotateLegal() { // ROS_ERROR("isRotateLegal is calling!!!"); const double full_rotation_range = 2 * M_PI; // 360 degrees const double angle_increment = 0.01; double currentX = current_control_point.translation().x(); double currentY = current_control_point.translation().y(); double currentYaw = current_control_point.rotation().eulerAngles(0, 1, 2).z(); for (double angle = 0; angle < full_rotation_range; angle += angle_increment) { double rotate_footprint_cost = footprintCost(currentX, currentY,(currentYaw + angle)); if(rotate_footprint_cost >= costmap_2d::LETHAL_OBSTACLE) { ROS_DEBUG_STREAM("================================"); ROS_DEBUG_STREAM("FTC: Rotate is illegal"); ROS_DEBUG_STREAM("FTC: switch to next state!"); ROS_DEBUG_STREAM("================================"); return false; } } return true; } double FTCPlannerROS::footprintCost(double x_i, double y_i, double theta_i) { std::vector<geometry_msgs::Point> footprint = costmap->getRobotFootprint(); double footprint_cost = world_model_->footprintCost(x_i, y_i, theta_i, footprint); return footprint_cost; } bool FTCPlannerROS::checkOscillation(geometry_msgs::Twist &cmd_vel) { bool oscillating = false; // detect and resolve oscillations if (config.oscillation_recovery) { // oscillating = true; double max_vel_theta = config.max_cmd_vel_ang; double max_vel_current = config.max_cmd_vel_speed; failure_detector_.update(cmd_vel, config.max_cmd_vel_speed, config.max_cmd_vel_speed, max_vel_theta, config.oscillation_v_eps, config.oscillation_omega_eps); oscillating = failure_detector_.isOscillating(); if (oscillating) // we are currently oscillating { if (!oscillation_detected_) // do we already know that robot oscillates? { time_last_oscillation_ = ros::Time::now(); // save time when oscillation was detected oscillation_detected_ = true; } // calculate duration of actual oscillation bool oscillation_duration_timeout = !((ros::Time::now() - time_last_oscillation_).toSec() < config.oscillation_recovery_min_duration); // check how long we oscillate if (oscillation_duration_timeout) { if (!oscillation_warning_) // ensure to send warning just once instead of spamming around { ROS_WARN("FTCLocalPlannerROS: possible oscillation (of the robot or its local plan) detected. Activating recovery strategy (prefer current turning direction during optimization)."); oscillation_warning_ = true; } return true; } return false; // oscillating but timeout not reached } else { // not oscillating time_last_oscillation_ = ros::Time::now(); // save time when oscillation was detected oscillation_detected_ = false; oscillation_warning_ = false; return false; } } return false; // no check for oscillation } void FTCPlannerROS::debugObstacle(visualization_msgs::Marker &obstacle_points, double x, double y, unsigned char cost, int maxIDs) { if (obstacle_points.points.empty()) { obstacle_points.header.frame_id = costmap->getGlobalFrameID(); obstacle_points.header.stamp = ros::Time::now(); obstacle_points.action = visualization_msgs::Marker::ADD; obstacle_points.pose.orientation.w = 1.0; obstacle_points.type = visualization_msgs::Marker::POINTS; obstacle_points.scale.x = 0.2; obstacle_points.scale.y = 0.2; } obstacle_points.id = obstacle_points.points.size() + 1; if (cost < 127) { obstacle_points.color.g = 1.0f; } if (cost >= 127 && cost < 255) { obstacle_points.color.r = 1.0f; } obstacle_points.color.a = 1.0; geometry_msgs::Point p; costmap_map_->mapToWorld(x, y, p.x, p.y); p.z = 0; obstacle_points.points.push_back(p); if (obstacle_points.points.size() >= maxIDs || cost > 0) { obstacle_marker_pub.publish(obstacle_points); obstacle_points.points.clear(); } } } - 1
- 2
- 3
- 4
- 5
- 6
- 7
- 8
- 9
- 10
- 11
- 12
- 13
- 14
- 15
- 16
- 17
- 18
- 19
- 20
- 21
- 22
- 23
- 24
- 25
- 26
- 27
- 28
- 29
- 30
- 31
- 32
- 33
- 34
- 35
- 36
- 37
- 38
- 39
- 40
- 41
- 42
- 43
- 44
- 45
- 46
- 47
- 48
- 49
- 50
- 51
- 52
- 53
- 54
- 55
- 56
- 57
- 58
- 59
- 60
- 61
- 62
- 63
- 64
- 65
- 66
- 67
- 68
- 69
- 70
- 71
- 72
- 73
- 74
- 75
- 76
- 77
- 78
- 79
- 80
- 81
- 82
- 83
- 84
- 85
- 86
- 87
- 88
- 89
- 90
- 91
- 92
- 93
- 94
- 95
- 96
- 97
- 98
- 99
- 100
- 101
- 102
- 103
- 104
- 105
- 106
- 107
- 108
- 109
- 110
- 111
- 112
- 113
- 114
- 115
- 116
- 117
- 118
- 119
- 120
- 121
- 122
- 123
- 124
- 125
- 126
- 127
- 128
- 129
- 130
- 131
- 132
- 133
- 134
- 135
- 136
- 137
- 138
- 139
- 140
- 141
- 142
- 143
- 144
- 145
- 146
- 147
- 148
- 149
- 150
- 151
- 152
- 153
- 154
- 155
- 156
- 157
- 158
- 159
- 160
- 161
- 162
- 163
- 164
- 165
- 166
- 167
- 168
- 169
- 170
- 171
- 172
- 173
- 174
- 175
- 176
- 177
- 178
- 179
- 180
- 181
- 182
- 183
- 184
- 185
- 186
- 187
- 188
- 189
- 190
- 191
- 192
- 193
- 194
- 195
- 196
- 197
- 198
- 199
- 200
- 201
- 202
- 203
- 204
- 205
- 206
- 207
- 208
- 209
- 210
- 211
- 212
- 213
- 214
- 215
- 216
- 217
- 218
- 219
- 220
- 221
- 222
- 223
- 224
- 225
- 226
- 227
- 228
- 229
- 230
- 231
- 232
- 233
- 234
- 235
- 236
- 237
- 238
- 239
- 240
- 241
- 242
- 243
- 244
- 245
- 246
- 247
- 248
- 249
- 250
- 251
- 252
- 253
- 254
- 255
- 256
- 257
- 258
- 259
- 260
- 261
- 262
- 263
- 264
- 265
- 266
- 267
- 268
- 269
- 270
- 271
- 272
- 273
- 274
- 275
- 276
- 277
- 278
- 279
- 280
- 281
- 282
- 283
- 284
- 285
- 286
- 287
- 288
- 289
- 290
- 291
- 292
- 293
- 294
- 295
- 296
- 297
- 298
- 299
- 300
- 301
- 302
- 303
- 304
- 305
- 306
- 307
- 308
- 309
- 310
- 311
- 312
- 313
- 314
- 315
- 316
- 317
- 318
- 319
- 320
- 321
- 322
- 323
- 324
- 325
- 326
- 327
- 328
- 329
- 330
- 331
- 332
- 333
- 334
- 335
- 336
- 337
- 338
- 339
- 340
- 341
- 342
- 343
- 344
- 345
- 346
- 347
- 348
- 349
- 350
- 351
- 352
- 353
- 354
- 355
- 356
- 357
- 358
- 359
- 360
- 361
- 362
- 363
- 364
- 365
- 366
- 367
- 368
- 369
- 370
- 371
- 372
- 373
- 374
- 375
- 376
- 377
- 378
- 379
- 380
- 381
- 382
- 383
- 384
- 385
- 386
- 387
- 388
- 389
- 390
- 391
- 392
- 393
- 394
- 395
- 396
- 397
- 398
- 399
- 400
- 401
- 402
- 403
- 404
- 405
- 406
- 407
- 408
- 409
- 410
- 411
- 412
- 413
- 414
- 415
- 416
- 417
- 418
- 419
- 420
- 421
- 422
- 423
- 424
- 425
- 426
- 427
- 428
- 429
- 430
- 431
- 432
- 433
- 434
- 435
- 436
- 437
- 438
- 439
- 440
- 441
- 442
- 443
- 444
- 445
- 446
- 447
- 448
- 449
- 450
- 451
- 452
- 453
- 454
- 455
- 456
- 457
- 458
- 459
- 460
- 461
- 462
- 463
- 464
- 465
- 466
- 467
- 468
- 469
- 470
- 471
- 472
- 473
- 474
- 475
- 476
- 477
- 478
- 479
- 480
- 481
- 482
- 483
- 484
- 485
- 486
- 487
- 488
- 489
- 490
- 491
- 492
- 493
- 494
- 495
- 496
- 497
- 498
- 499
- 500
- 501
- 502
- 503
- 504
- 505
- 506
- 507
- 508
- 509
- 510
- 511
- 512
- 513
- 514
- 515
- 516
- 517
- 518
- 519
- 520
- 521
- 522
- 523
- 524
- 525
- 526
- 527
- 528
- 529
- 530
- 531
- 532
- 533
- 534
- 535
- 536
- 537
- 538
- 539
- 540
- 541
- 542
- 543
- 544
- 545
- 546
- 547
- 548
- 549
- 550
- 551
- 552
- 553
- 554
- 555
- 556
- 557
- 558
- 559
- 560
- 561
- 562
- 563
- 564
- 565
- 566
- 567
- 568
- 569
- 570
- 571
- 572
- 573
- 574
- 575
- 576
- 577
- 578
- 579
- 580
- 581
- 582
- 583
- 584
- 585
- 586
- 587
- 588
- 589
- 590
- 591
- 592
- 593
- 594
- 595
- 596
- 597
- 598
- 599
- 600
- 601
- 602
- 603
- 604
- 605
- 606
- 607
- 608
- 609
- 610
- 611
- 612
- 613
- 614
- 615
- 616
- 617
- 618
- 619
- 620
- 621
- 622
- 623
- 624
- 625
- 626
- 627
- 628
- 629
- 630
- 631
- 632
- 633
- 634
- 635
- 636
- 637
- 638
- 639
- 640
- 641
- 642
- 643
- 644
- 645
- 646
- 647
- 648
- 649
- 650
- 651
- 652
- 653
- 654
- 655
- 656
- 657
- 658
- 659
- 660
- 661
- 662
- 663
- 664
- 665
- 666
- 667
- 668
- 669
- 670
- 671
- 672
- 673
- 674
- 675
- 676
- 677
- 678
- 679
- 680
- 681
- 682
- 683
- 684
- 685
- 686
- 687
- 688
- 689
- 690
- 691
- 692
- 693
- 694
- 695
- 696
- 697
- 698
- 699
- 700
- 701
- 702
- 703
- 704
- 705
- 706
- 707
- 708
- 709
- 710
- 711
- 712
- 713
- 714
- 715
- 716
- 717
- 718
- 719
- 720
- 721
- 722
- 723
- 724
- 725
- 726
- 727
- 728
- 729
- 730
- 731
- 732
- 733
- 734
- 735
- 736
- 737
- 738
- 739
- 740
- 741
- 742
- 743
- 744
- 745
- 746
- 747
- 748
- 749
- 750
- 751
- 752
- 753
- 754
- 755
- 756
- 757
- 758
- 759
- 760
- 761
- 762
- 763
- 764
- 765
- 766
- 767
- 768
- 769
- 770
- 771
- 772
- 773
- 774
- 775
- 776
- 777
- 778
- 779
- 780
- 781
- 782
- 783
- 784
- 785
- 786
- 787
- 788
- 789
- 790
- 791
- 792
- 793
- 794
- 795
- 796
- 797
- 798
- 799
- 800
- 801
- 802
- 803
- 804
- 805
- 806
- 807
- 808
- 809
- 810
- 811
- 812
- 813
- 814
- 815
- 816
- 817
- 818
- 819
- 820
- 821
- 822
- 823
- 824
- 825
- 826
- 827
- 828
- 829
- 830
- 831
- 832
- 833
- 834
- 835
- 836
- 837
- 838
- 839
- 840
- 841
- 842
- 843
-
相关阅读:
2022实验室更新 DBCO-NH2,DBCO-Amine 叠氮化物功能化化合物
卷积神经网络 图像处理,卷积神经网络识别图片
附录1.图书管理案例
【XCTF】【GFSJ0522】【Crypto】【难度1】base64
辅助驾驶功能开发-功能对标篇(6)-NOA领航辅助系统-上汽智己
【无标题】
零基础学习CANoe Panel（12）—— 进度条（Progress Bar）
docker搭建mysql环境
JVM学习第八节 对象的实例化、内存布局与访问定位
【Leetcode】【数据结构】【C语言】判断两个链表是否相交并返回交点地址
- 原文地址：https://blog.csdn.net/SmileJayNew/article/details/133908263
