Skip to content

[Draft] [nav2_controller] Add controller_patience param #2264

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
SteveMacenski merged 6 commits into from
Apr 2, 2021
Merged

[Draft] [nav2_controller] Add controller_patience param #2264

Show file tree
Hide file tree
Changes from 1 commit
Commits
Show all changes
6 commits
Select commit Hold shift + click to select a range
3a07e30
first implementation
Mar 22, 2021
8e53a2a
restructure + param
Mar 24, 2021
28cfe5e
lint
Mar 24, 2021
2eb7288
remove uneeded publishVelocity and deal with controller_patience_ 1.0
Mar 29, 2021
9a65af8
change param name
Mar 31, 2021
219a7b4
add reasonable param
Apr 2, 2021
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
5 changes: 5 additions & 0 deletions nav2_controller/include/nav2_controller/nav2_controller.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -229,9 +229,14 @@ class ControllerServer : public nav2_util::LifecycleNode
double min_y_velocity_threshold_;
double min_theta_velocity_threshold_;

double controller_patience_;

// Whether we've published the single controller warning yet
geometry_msgs::msg::Pose end_pose_;

// Last time the controller generated a valid command
rclcpp::Time last_valid_cmd_time_;

private:
/**
* @brief Callback for speed limiting messages
Expand Down
39 changes: 34 additions & 5 deletions nav2_controller/src/nav2_controller.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -55,6 +55,8 @@ ControllerServer::ControllerServer()

declare_parameter("speed_limit_topic", rclcpp::ParameterValue("speed_limit"));

declare_parameter("controller_patience", rclcpp::ParameterValue(0.0));

// The costmap node is used in the implementation of the controller
costmap_ros_ = std::make_shared<nav2_costmap_2d::Costmap2DROS>(
"local_costmap", std::string{get_namespace()}, "local_costmap");
Expand Down Expand Up @@ -297,6 +299,7 @@ void ControllerServer::computeControl()
setPlannerPath(action_server_->get_current_goal()->path);
progress_checker_->reset();

last_valid_cmd_time_ = now();
rclcpp::WallRate loop_rate(controller_frequency_);
while (rclcpp::ok()) {
if (action_server_ == nullptr || !action_server_->is_server_active()) {
Expand Down Expand Up @@ -385,11 +388,34 @@ void ControllerServer::computeAndPublishVelocity()

nav_2d_msgs::msg::Twist2D twist = getThresholdedTwist(odom_sub_->getTwist());

auto cmd_vel_2d =
controllers_[current_controller_]->computeVelocityCommands(
pose,
nav_2d_utils::twist2Dto3D(twist),
goal_checker_.get());
geometry_msgs::msg::TwistStamped cmd_vel_2d;

if (controller_patience_ > 0 || controller_patience_ == -1.0) {
Comment thread
SteveMacenski marked this conversation as resolved.
Outdated
try {
cmd_vel_2d =
controllers_[current_controller_]->computeVelocityCommands(
pose,
nav_2d_utils::twist2Dto3D(twist),
goal_checker_.get());
last_valid_cmd_time_ = now();
} catch (nav2_core::PlannerException & e) {
RCLCPP_WARN(this->get_logger(), e.what());
cmd_vel_2d.twist.angular.x = 0;
cmd_vel_2d.twist.angular.y = 0;
cmd_vel_2d.twist.angular.z = 0;
cmd_vel_2d.twist.linear.x = 0;
cmd_vel_2d.twist.linear.y = 0;
cmd_vel_2d.twist.linear.z = 0;
cmd_vel_2d.header.frame_id = costmap_ros_->getBaseFrameID();
cmd_vel_2d.header.stamp = now();
}
} else {
cmd_vel_2d =
controllers_[current_controller_]->computeVelocityCommands(
pose,
nav_2d_utils::twist2Dto3D(twist),
goal_checker_.get());
}

std::shared_ptr<Action::Feedback> feedback = std::make_shared<Action::Feedback>();
feedback->speed = std::hypot(cmd_vel_2d.twist.linear.x, cmd_vel_2d.twist.linear.y);
Expand All @@ -398,6 +424,9 @@ void ControllerServer::computeAndPublishVelocity()

RCLCPP_DEBUG(get_logger(), "Publishing velocity at time %.2f", now().seconds());
publishVelocity(cmd_vel_2d);
if (controller_patience_ > 0 && (now() - last_valid_cmd_time_).seconds() > 5) {
throw nav2_core::PlannerException("Controller patience exceeded");
}
}

void ControllerServer::updateGlobalPath()
Expand Down