From 0afe39905badda37bec8bdf866aec3de3a2ab1bd Mon Sep 17 00:00:00 2001 From: Joshua Wallace Date: Wed, 16 Feb 2022 20:11:06 -0500 Subject: [PATCH 01/14] found error --- nav2_bringup/launch/tb3_simulation_launch.py | 2 +- nav2_bringup/maps/100by50_10.pgm | Bin 0 -> 2000017 bytes nav2_bringup/maps/turtlebot3_world.yaml | 6 +- nav2_bringup/params/nav2_params.yaml | 29 ++- nav2_bringup/worlds/world_only.model | 4 +- nav2_planner/src/planner_server.cpp | 2 +- .../nav2_planner_metrics/__init__.py | 0 .../nav2_planner_metrics/metrics.py | 169 ++++++++++++++++++ .../nav2_planner_metrics/process_data.py | 106 +++++++++++ nav2_planner_metrics/package.xml | 25 +++ .../resource/nav2_planner_metrics | 0 nav2_planner_metrics/setup.cfg | 4 + nav2_planner_metrics/setup.py | 27 +++ nav2_planner_metrics/test/test_copyright.py | 25 +++ nav2_planner_metrics/test/test_flake8.py | 25 +++ nav2_planner_metrics/test/test_pep257.py | 23 +++ 16 files changed, 435 insertions(+), 12 deletions(-) create mode 100644 nav2_bringup/maps/100by50_10.pgm create mode 100644 nav2_planner_metrics/nav2_planner_metrics/__init__.py create mode 100644 nav2_planner_metrics/nav2_planner_metrics/metrics.py create mode 100644 nav2_planner_metrics/nav2_planner_metrics/process_data.py create mode 100644 nav2_planner_metrics/package.xml create mode 100644 nav2_planner_metrics/resource/nav2_planner_metrics create mode 100644 nav2_planner_metrics/setup.cfg create mode 100644 nav2_planner_metrics/setup.py create mode 100644 nav2_planner_metrics/test/test_copyright.py create mode 100644 nav2_planner_metrics/test/test_flake8.py create mode 100644 nav2_planner_metrics/test/test_pep257.py diff --git a/nav2_bringup/launch/tb3_simulation_launch.py b/nav2_bringup/launch/tb3_simulation_launch.py index c3354075169..8422fdf4009 100644 --- a/nav2_bringup/launch/tb3_simulation_launch.py +++ b/nav2_bringup/launch/tb3_simulation_launch.py @@ -129,7 +129,7 @@ def generate_launch_description(): declare_simulator_cmd = DeclareLaunchArgument( 'headless', - default_value='False', + default_value='True', description='Whether to execute gzclient)') declare_world_cmd = DeclareLaunchArgument( diff --git a/nav2_bringup/maps/100by50_10.pgm b/nav2_bringup/maps/100by50_10.pgm new file mode 100644 index 0000000000000000000000000000000000000000..62665eb8983125d134079b7c24871d1a727d85e2 GIT binary patch literal 2000017 zcmeF4*_AZCZe_pcwn8STwU+#7|DCyAQ)b3MfB;93vGt&003dMACL`+p^Z)zb|N5W* z{_p?(umAh~|NiHH|M&m=P>GwIm(p?xSh5!U0009WhB%u5{ z|4z-6#%u^c00Izz00fK#GQZFHm2Tun83Z5z0SG`~B7yv`^Y4m@0vQbf2tWV=5P(3I zfbI7=ztXcHDS$vU0`HeQnlSW000KP-ykGhJqQ`i8LI47N2%O&NJ|pM~fnoy3`&rzC zjVA&}riS%tFAoraKvV*^w>hd%bUl*5^?p7QLUYqss`=;U5@-kk2(%`Uc#&I=pdSQE z2_&v3f0I@z%)`DE*KF*tpCtq!5RX9W9ge3milR5ID1vs^@dkcc?C!e1zY|W+Lw{*Z zfB*!_2ncU-S+h-d!D!;arr}Q%w8`i+S6g%w1lWMUW(36dcQc<}J0h1;!rPU4H-QuH z!-KmK8%_icC`*>7UOYem0s#mpZ*l;2qa`Rbq||7M&zlGNK4&g*wa5GDqALU-P)0y~ zcgtF?wo65jPp)QnIlb}`EN3N_U>U4E6Uz~5An<4cnHP6gHW}N#^sbPi_>xZ}io!K@ 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zzyJm?fB_6(00S7n00uCC0SsUO0~o*n1~7mD3}65Q7{CAqFn|FJU;qOczyJm?fB_6( z00S7n00uCC0SsUO0~o*n1~7mD3}65Q7{CAqFn|FJU;qOczyJm?fB_6(00S7n00uCC z0SsUO0~o*n1~7mD3}65Q7{CAqFn|FJU;qOczyJm?fB_6(00S7n00uCC0SsUO0~o*n z1~7mD3}65Q7{CAqFn|FJU;qOczyJm?fB_6(00S7n00uCC0SsUO0~o*n1~7mD3}65Q z7{CAqFn|FJU;qOczyJm?fB_6(00S7n00uCC0SsUO0~o*n1~7mD3}65Q7{CAqFn|FJ NU;qOcz`&n@{{YwX;fnwO literal 0 HcmV?d00001 diff --git a/nav2_bringup/maps/turtlebot3_world.yaml b/nav2_bringup/maps/turtlebot3_world.yaml index 51d4387e3a9..a70171f92e6 100644 --- a/nav2_bringup/maps/turtlebot3_world.yaml +++ b/nav2_bringup/maps/turtlebot3_world.yaml @@ -1,6 +1,6 @@ -image: turtlebot3_world.pgm +image: 100by50_10.pgm resolution: 0.050000 -origin: [-10.000000, -10.000000, 0.000000] -negate: 0 +origin: [0.0, 0.0, 0.000000] +negate: 1 occupied_thresh: 0.65 free_thresh: 0.196 diff --git a/nav2_bringup/params/nav2_params.yaml b/nav2_bringup/params/nav2_params.yaml index fe30862e983..2ab12792044 100644 --- a/nav2_bringup/params/nav2_params.yaml +++ b/nav2_bringup/params/nav2_params.yaml @@ -187,7 +187,7 @@ local_costmap: width: 3 height: 3 resolution: 0.05 - robot_radius: 0.22 + robot_radius: 0.5 plugins: ["voxel_layer", "inflation_layer"] inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" @@ -254,8 +254,8 @@ global_costmap: map_subscribe_transient_local: True inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" - cost_scaling_factor: 3.0 - inflation_radius: 0.55 + cost_scaling_factor: 1.0 + inflation_radius: 5.5 always_send_full_costmap: True global_costmap_client: ros__parameters: @@ -281,12 +281,31 @@ planner_server: ros__parameters: expected_planner_frequency: 20.0 use_sim_time: True - planner_plugins: ["GridBased"] - GridBased: + planner_plugins: ["NavFn", "SmacLattice", "Smac2D", "SmacHybrid"] + NavFn: plugin: "nav2_navfn_planner/NavfnPlanner" tolerance: 0.5 use_astar: false allow_unknown: true + allow_reversing: true + SmacLattice: + plugin: "nav2_smac_planner/SmacPlannerLattice" + tolerance: 0.5 + use_astar: false + allow_unknown: true + allow_reversing: true + Smac2D: + plugin: "nav2_smac_planner/SmacPlanner2D" + tolerance: 0.5 + use_astar: false + allow_unknown: true + allow_reversing: true + SmacHybrid: + plugin: "nav2_smac_planner/SmacPlannerHybrid" + tolerance: 0.5 + use_astar: false + allow_unknown: true + allow_reversing: true planner_server_rclcpp_node: ros__parameters: diff --git a/nav2_bringup/worlds/world_only.model b/nav2_bringup/worlds/world_only.model index 4c45d4e2f94..62b2f67844d 100644 --- a/nav2_bringup/worlds/world_only.model +++ b/nav2_bringup/worlds/world_only.model @@ -43,12 +43,12 @@ - + diff --git a/nav2_planner/src/planner_server.cpp b/nav2_planner/src/planner_server.cpp index 4a62b1e83ec..b2302a0881a 100644 --- a/nav2_planner/src/planner_server.cpp +++ b/nav2_planner/src/planner_server.cpp @@ -286,7 +286,7 @@ bool PlannerServer::getStartPose( typename std::shared_ptr goal, geometry_msgs::msg::PoseStamped & start) { - if (goal->use_start) { + if (true) { start = goal->start; } else if (!costmap_ros_->getRobotPose(start)) { action_server->terminate_current(); diff --git a/nav2_planner_metrics/nav2_planner_metrics/__init__.py b/nav2_planner_metrics/nav2_planner_metrics/__init__.py new file mode 100644 index 00000000000..e69de29bb2d diff --git a/nav2_planner_metrics/nav2_planner_metrics/metrics.py b/nav2_planner_metrics/nav2_planner_metrics/metrics.py new file mode 100644 index 00000000000..875a7fe8612 --- /dev/null +++ b/nav2_planner_metrics/nav2_planner_metrics/metrics.py @@ -0,0 +1,169 @@ +#! /usr/bin/env python3 +# Copyright 2022 Samsung Research America +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from geometry_msgs.msg import PoseStamped +from nav2_simple_commander.robot_navigator import BasicNavigator +import rclpy +from rclpy.node import Node +from rclpy.duration import Duration +from rcl_interfaces.msg import ParameterValue, ParameterType, Parameter +from rcl_interfaces.srv import SetParameters +from ament_index_python.packages import get_package_share_directory +import time + +import math +import os +import pickle +import numpy as np + +from random import seed +from random import randint +from random import uniform + + +def getPlannerResults(navigator, initial_pose, goal_pose, planners): + results = [] + for planner in planners: + path = navigator.getPath(initial_pose, goal_pose, planner) + if path is not None: + results.append(path) + return results + +def getRandomStart(costmap, max_cost, side_buffer, time_stamp, res): + start = PoseStamped() + start.header.frame_id = 'map' + start.header.stamp = time_stamp + while True: + row = randint(side_buffer, costmap.shape[0]-side_buffer) + col = randint(side_buffer, costmap.shape[1]-side_buffer) + + if costmap[row, col] < max_cost: + start.pose.position.x = col*res + start.pose.position.y = row*res + + yaw = uniform(0,1) * 2*math.pi + quad = get_quaternion_from_euler(0.0, 0.0, yaw) + start.pose.orientation.x = quad[0] + start.pose.orientation.y = quad[1] + start.pose.orientation.z = quad[2] + start.pose.orientation.w = quad[3] + break + return start + +def getRandomGoal(costmap, start, max_cost, side_buffer, time_stamp, res): + goal = PoseStamped() + goal.header.frame_id = 'map' + goal.header.stamp = time_stamp + while True: + row = randint(side_buffer, costmap.shape[0]-side_buffer) + col = randint(side_buffer, costmap.shape[1]-side_buffer) + + start_x = start.pose.position.x + start_y = start.pose.position.y + goal_x = col*res + goal_y = row*res + x_diff = goal_x - start_x + y_diff = goal_y - start_y + dist = math.sqrt( x_diff ** 2 + y_diff ** 2) + + if costmap[row, col] < max_cost and dist > 3.0: + goal.pose.position.x = goal_x + goal.pose.position.y = goal_y + + yaw = uniform(0,1) * 2*math.pi + quad = get_quaternion_from_euler(0.0, 0.0, yaw) + goal.pose.orientation.x = quad[0] + goal.pose.orientation.y = quad[1] + goal.pose.orientation.z = quad[2] + goal.pose.orientation.w = quad[3] + break + return goal + +def get_quaternion_from_euler(roll, pitch, yaw): + quad = [] + """ + Convert an Euler angle to a quaternion. + + Input + :param roll: The roll (rotation around x-axis) angle in radians. + :param pitch: The pitch (rotation around y-axis) angle in radians. + :param yaw: The yaw (rotation around z-axis) angle in radians. + + Output + :return qx, qy, qz, qw: The orientation in quaternion [x,y,z,w] format + """ + qx = np.sin(roll/2) * np.cos(pitch/2) * np.cos(yaw/2) - np.cos(roll/2) * np.sin(pitch/2) * np.sin(yaw/2) + qy = np.cos(roll/2) * np.sin(pitch/2) * np.cos(yaw/2) + np.sin(roll/2) * np.cos(pitch/2) * np.sin(yaw/2) + qz = np.cos(roll/2) * np.cos(pitch/2) * np.sin(yaw/2) - np.sin(roll/2) * np.sin(pitch/2) * np.cos(yaw/2) + qw = np.cos(roll/2) * np.cos(pitch/2) * np.cos(yaw/2) + np.sin(roll/2) * np.sin(pitch/2) * np.sin(yaw/2) + quad = [qx, qy, qz, qw] + return quad + + +def main(): + rclpy.init() + + navigator = BasicNavigator() + + # Set our experiment's initial pose + initial_pose = PoseStamped() + initial_pose.header.frame_id = 'map' + initial_pose.header.stamp = navigator.get_clock().now().to_msg() + initial_pose.pose.position.x = 1.0 + initial_pose.pose.position.y = 1.0 + initial_pose.pose.orientation.z = 0.999913 + initial_pose.pose.orientation.w = 0.0131738 + navigator.setInitialPose(initial_pose) + + # Wait for navigation to fully activate + navigator.waitUntilNav2Active() + + #Get the costmap for plotting and start/goal validation + costmap_msg = navigator.getGlobalCostmap() + costmap = np.asarray(costmap_msg.data) + costmap.resize(costmap_msg.metadata.size_y, costmap_msg.metadata.size_x) + + # planners = ['NavFn', 'SmacLattice', 'Smac2D', 'SmacHybrid'] + planners = ['SmacLattice'] + max_cost = 210 + side_buffer = 10 + time_stamp = navigator.get_clock().now().to_msg() + results = [] + for i in range(100): + start = getRandomStart(costmap, max_cost, side_buffer, time_stamp, costmap_msg.metadata.resolution) + goal = getRandomGoal(costmap, start, max_cost, side_buffer, time_stamp, costmap_msg.metadata.resolution) + result = getPlannerResults(navigator, start, goal, planners) + if len(result) == len(planners): + results.append(result) + else: + print("One of the planners was invalid") + + print("Write Results...") + nav2_planner_metrics_dir = get_package_share_directory('nav2_planner_metrics') + with open(os.path.join(nav2_planner_metrics_dir, 'results.pickle'),'wb') as f: + pickle.dump(results, f, pickle.HIGHEST_PROTOCOL) + + with open(os.path.join(nav2_planner_metrics_dir, 'costmap.pickle'), 'wb') as f: + pickle.dump(costmap, f, pickle.HIGHEST_PROTOCOL) + + with open(os.path.join(nav2_planner_metrics_dir, 'planners.pickle'), 'wb') as f: + pickle.dump(planners, f, pickle.HIGHEST_PROTOCOL) + print("Write Complete") + + navigator.lifecycleShutdown() + exit(0) + +if __name__ == '__main__': + main() \ No newline at end of file diff --git a/nav2_planner_metrics/nav2_planner_metrics/process_data.py b/nav2_planner_metrics/nav2_planner_metrics/process_data.py new file mode 100644 index 00000000000..511f3506531 --- /dev/null +++ b/nav2_planner_metrics/nav2_planner_metrics/process_data.py @@ -0,0 +1,106 @@ +from nav2_msgs.action import ComputePathToPose +import numpy as np +import math + +import os +from ament_index_python.packages import get_package_share_directory +import pickle + +import seaborn as sns +import matplotlib.pylab as plt +from tabulate import tabulate + +def getPaths(results): + paths = [] + for result in results: + for path in result: + paths.append(path.path) + return paths + +def getTimes(results): + times = [] + for result in results: + for time in result: + times.append(time.planning_time.nanosec) + return times + +def getMapCoordsFromPaths(paths, resolution): + coords = [] + for path in paths: + x = [] + y = [] + for pose in path.poses: + x.append(pose.pose.position.x/resolution) + y.append(pose.pose.position.y/resolution) + coords.append(x) + coords.append(y) + return coords + +def getPathLength(path): + path_length = 0 + x_prev = path.poses[0].pose.position.x + y_prev = path.poses[0].pose.position.y + for i in range(1, len(path.poses)): + x_curr = path.poses[i].pose.position.x + y_curr = path.poses[i].pose.position.y + path_length = path_length + math.sqrt((x_curr-x_prev)**2 + (y_curr-y_prev)**2) + x_prev = x_curr + y_prev = y_curr + return path_length + +def plotResults(costmap, paths): + coords = getMapCoordsFromPaths(paths, costmap.metadata.resolution) + data = np.asarray(costmap.data) + data.resize(costmap.metadata.size_y, costmap.metadata.size_x) + data = np.where(data < 254, 0, data) + data = data * -1 + plt.figure(3) + ax = sns.heatmap(data, cbar=False) + for i in range(0, len(coords), 2): + ax.plot(coords[i], coords[i+1], linewidth=0.7) + plt.axis('off') + plt.show() + + +def main(): + + nav2_planner_metrics_dir = get_package_share_directory('nav2_planner_metrics') + + with open(os.path.join(nav2_planner_metrics_dir, 'costmap.pickle'), 'rb') as f: + costmap = pickle.load(f) + + with open(os.path.join(nav2_planner_metrics_dir, 'results.pickle'), 'rb') as f: + results = pickle.load(f) + + with open(os.path.join(nav2_planner_metrics_dir, 'planners.pickle'), 'rb') as f: + planners = pickle.load(f) + + paths = getPaths(results) + path_lengths = [] + + for path in paths: + path_lengths.append( getPathLength(path)) + path_lengths = np.asarray(path_lengths) + total_paths = len(paths) + + path_lengths.resize((int(total_paths/len(planners)), len(planners))) + path_lengths = np.transpose(path_lengths) + print(path_lengths.size) + + times = getTimes(results) + times = np.asarray(times) + times = times * 0.000001; # convert nano to milli + times.resize((int(total_paths/len(planners)), len(planners))) + times = np.transpose(times) + + # Generate table + planner_table = [['Planner', 'Average Path Length (m)', 'Average Time (ms)']] + for i in range(0,len(planners)): + planner_table.append([planners[i], np.average(path_lengths[i]), np.average(times[i])]) + + #Visualize results + print(tabulate(planner_table)) + # plotResults(costmap, paths) + +if __name__ == '__main__': + main() \ No newline at end of file diff --git a/nav2_planner_metrics/package.xml b/nav2_planner_metrics/package.xml new file mode 100644 index 00000000000..cfa5600df37 --- /dev/null +++ b/nav2_planner_metrics/package.xml @@ -0,0 +1,25 @@ + + + + nav2_planner_metrics + 0.0.0 + TODO: Package description + josh + TODO: License declaration + + python-enum34 + rclpy + geometry_msgs + nav2_msgs + action_msgs + lifecycle_msgs + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + diff --git a/nav2_planner_metrics/resource/nav2_planner_metrics b/nav2_planner_metrics/resource/nav2_planner_metrics new file mode 100644 index 00000000000..e69de29bb2d diff --git a/nav2_planner_metrics/setup.cfg b/nav2_planner_metrics/setup.cfg new file mode 100644 index 00000000000..cfb46bf4e41 --- /dev/null +++ b/nav2_planner_metrics/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/nav2_planner_metrics +[install] +install_scripts=$base/lib/nav2_planner_metrics diff --git a/nav2_planner_metrics/setup.py b/nav2_planner_metrics/setup.py new file mode 100644 index 00000000000..f01c74954c5 --- /dev/null +++ b/nav2_planner_metrics/setup.py @@ -0,0 +1,27 @@ +from setuptools import setup + +package_name = 'nav2_planner_metrics' + +setup( + name=package_name, + version='0.0.0', + packages=[package_name], + data_files=[ + ('share/ament_index/resource_index/packages', + ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='josh', + maintainer_email='josho.wallace@gmail.com', + description='TODO: Package description', + license='TODO: License declaration', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + 'metrics = nav2_planner_metrics.metrics:main', + 'post_process = nav2_planner_metrics.process_data:main' + ], + }, +) diff --git a/nav2_planner_metrics/test/test_copyright.py b/nav2_planner_metrics/test/test_copyright.py new file mode 100644 index 00000000000..97a39196e84 --- /dev/null +++ b/nav2_planner_metrics/test/test_copyright.py @@ -0,0 +1,25 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_copyright.main import main +import pytest + + +# Remove the `skip` decorator once the source file(s) have a copyright header +@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.') +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found errors' diff --git a/nav2_planner_metrics/test/test_flake8.py b/nav2_planner_metrics/test/test_flake8.py new file mode 100644 index 00000000000..27ee1078ff0 --- /dev/null +++ b/nav2_planner_metrics/test/test_flake8.py @@ -0,0 +1,25 @@ +# Copyright 2017 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_flake8.main import main_with_errors +import pytest + + +@pytest.mark.flake8 +@pytest.mark.linter +def test_flake8(): + rc, errors = main_with_errors(argv=[]) + assert rc == 0, \ + 'Found %d code style errors / warnings:\n' % len(errors) + \ + '\n'.join(errors) diff --git a/nav2_planner_metrics/test/test_pep257.py b/nav2_planner_metrics/test/test_pep257.py new file mode 100644 index 00000000000..b234a3840f4 --- /dev/null +++ b/nav2_planner_metrics/test/test_pep257.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_pep257.main import main +import pytest + + +@pytest.mark.linter +@pytest.mark.pep257 +def test_pep257(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found code style errors / warnings' From 9481b141d39c78c3121d0333833ce6f858fbf7df Mon Sep 17 00:00:00 2001 From: Joshua Wallace Date: Sat, 26 Feb 2022 09:39:54 -0500 Subject: [PATCH 02/14] complete test setup --- nav2_bringup/launch/tb3_simulation_launch.py | 2 +- nav2_bringup/maps/100by100_10.pgm | Bin 0 -> 4000017 bytes nav2_bringup/maps/100by100_15.pgm | Bin 0 -> 4000017 bytes nav2_bringup/maps/100by100_20.pgm | Bin 0 -> 4000017 bytes nav2_bringup/maps/turtlebot3_world.yaml | 2 +- nav2_bringup/params/nav2_params.yaml | 19 ++-- nav2_map_server/CMakeLists.txt | 1 + nav2_map_server/launch/map_server_launch.py | 30 ++++++ nav2_planner/src/planner_server.cpp | 5 +- .../nav2_planner_metrics/metrics.py | 100 ++++++++++-------- .../nav2_planner_metrics/process_data.py | 58 ++++++++-- .../nav2_simple_commander/robot_navigator.py | 2 +- 12 files changed, 149 insertions(+), 70 deletions(-) create mode 100644 nav2_bringup/maps/100by100_10.pgm create mode 100644 nav2_bringup/maps/100by100_15.pgm create mode 100644 nav2_bringup/maps/100by100_20.pgm create mode 100644 nav2_map_server/launch/map_server_launch.py diff --git a/nav2_bringup/launch/tb3_simulation_launch.py b/nav2_bringup/launch/tb3_simulation_launch.py index 8422fdf4009..fbc38d00962 100644 --- a/nav2_bringup/launch/tb3_simulation_launch.py +++ b/nav2_bringup/launch/tb3_simulation_launch.py @@ -103,7 +103,7 @@ def generate_launch_description(): description='Automatically startup the nav2 stack') declare_use_composition_cmd = DeclareLaunchArgument( - 'use_composition', default_value='True', + 'use_composition', default_value='False', description='Whether to use composed bringup') declare_rviz_config_file_cmd = DeclareLaunchArgument( diff --git a/nav2_bringup/maps/100by100_10.pgm b/nav2_bringup/maps/100by100_10.pgm new file mode 100644 index 0000000000000000000000000000000000000000..c69b8a7fb0a6b4a783f508385ad9482149814989 GIT binary patch literal 4000017 zcmeFaS+eaqj%9nlUn{Z+Vb3i3k^S$?$z4fH1xNxcL2~3rE)fKQIR_zacaIw$|M!3Y z&;S2F|MNe8|KI=q@BjB7{|^EXfB*y_009U<00Izz00bZa0SG_<0uX=z1Rwwb2tWV= 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b/nav2_bringup/maps/turtlebot3_world.yaml @@ -1,4 +1,4 @@ -image: 100by50_10.pgm +image: 100by100_20.pgm resolution: 0.050000 origin: [0.0, 0.0, 0.000000] negate: 1 diff --git a/nav2_bringup/params/nav2_params.yaml b/nav2_bringup/params/nav2_params.yaml index 2ab12792044..4e5849ffbe1 100644 --- a/nav2_bringup/params/nav2_params.yaml +++ b/nav2_bringup/params/nav2_params.yaml @@ -281,31 +281,24 @@ planner_server: ros__parameters: expected_planner_frequency: 20.0 use_sim_time: True - planner_plugins: ["NavFn", "SmacLattice", "Smac2D", "SmacHybrid"] + planner_plugins: ["NavFn", "Smac2D", "SmacHybrid", "SmacLattice"] NavFn: plugin: "nav2_navfn_planner/NavfnPlanner" tolerance: 0.5 use_astar: false allow_unknown: true - allow_reversing: true - SmacLattice: - plugin: "nav2_smac_planner/SmacPlannerLattice" - tolerance: 0.5 - use_astar: false - allow_unknown: true - allow_reversing: true Smac2D: plugin: "nav2_smac_planner/SmacPlanner2D" tolerance: 0.5 - use_astar: false - allow_unknown: true - allow_reversing: true SmacHybrid: plugin: "nav2_smac_planner/SmacPlannerHybrid" tolerance: 0.5 - use_astar: false + motion_model_for_search: REEDS_SHEPP + SmacLattice: + plugin: "nav2_smac_planner/SmacPlannerLattice" + tolerance: 0.5 allow_unknown: true - allow_reversing: true + allow_reverse_expansion: true planner_server_rclcpp_node: ros__parameters: diff --git a/nav2_map_server/CMakeLists.txt b/nav2_map_server/CMakeLists.txt index c24e5e5c4d5..184b25beb1e 100644 --- a/nav2_map_server/CMakeLists.txt +++ b/nav2_map_server/CMakeLists.txt @@ -1,5 +1,6 @@ cmake_minimum_required(VERSION 3.5) project(nav2_map_server) +add_compile_options(-g) list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_LIST_DIR}/cmake_modules) diff --git a/nav2_map_server/launch/map_server_launch.py b/nav2_map_server/launch/map_server_launch.py new file mode 100644 index 00000000000..70b2fac9887 --- /dev/null +++ b/nav2_map_server/launch/map_server_launch.py @@ -0,0 +1,30 @@ +import os + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory + +def generate_launch_description(): + + lifecycle_nodes = ['map_server'] + + return LaunchDescription([ + Node( + package='nav2_map_server', + executable='map_server', + name='map_server', + output='screen', + prefix=['xterm -e gdb -ex run --args'], + parameters=[{'use_sim_time': True}, + {'yaml_filename': "/home/josh/nav2_ws/src/navigation2/nav2_bringup/maps/turtlebot3_world.yaml"}, + {'topic_name': "map"}]), + Node( + package='nav2_lifecycle_manager', + executable='lifecycle_manager', + name='lifecycle_manager_localization', + output='screen', + parameters=[{'use_sim_time': True}, + {'autostart': True}, + {'node_names': lifecycle_nodes}]) + ]) \ No newline at end of file diff --git a/nav2_planner/src/planner_server.cpp b/nav2_planner/src/planner_server.cpp index b2302a0881a..f46ed274554 100644 --- a/nav2_planner/src/planner_server.cpp +++ b/nav2_planner/src/planner_server.cpp @@ -461,7 +461,10 @@ PlannerServer::computePlan() return; } + auto planning_start = steady_clock_.now(); result->path = getPlan(start, goal_pose, goal->planner_id); + auto planning_duration = steady_clock_.now() - planning_start; + result->planning_time = planning_duration; if (!validatePath(action_server_pose_, goal_pose, result->path, goal->planner_id)) { return; @@ -471,7 +474,7 @@ PlannerServer::computePlan() publishPlan(result->path); auto cycle_duration = steady_clock_.now() - start_time; - result->planning_time = cycle_duration; + // result->planning_time = cycle_duration; if (max_planner_duration_ && cycle_duration.seconds() > max_planner_duration_) { RCLCPP_WARN( diff --git a/nav2_planner_metrics/nav2_planner_metrics/metrics.py b/nav2_planner_metrics/nav2_planner_metrics/metrics.py index 875a7fe8612..f9aed213814 100644 --- a/nav2_planner_metrics/nav2_planner_metrics/metrics.py +++ b/nav2_planner_metrics/nav2_planner_metrics/metrics.py @@ -32,6 +32,7 @@ from random import randint from random import uniform +from transforms3d.euler import euler2quat def getPlannerResults(navigator, initial_pose, goal_pose, planners): results = [] @@ -54,11 +55,11 @@ def getRandomStart(costmap, max_cost, side_buffer, time_stamp, res): start.pose.position.y = row*res yaw = uniform(0,1) * 2*math.pi - quad = get_quaternion_from_euler(0.0, 0.0, yaw) - start.pose.orientation.x = quad[0] - start.pose.orientation.y = quad[1] - start.pose.orientation.z = quad[2] - start.pose.orientation.w = quad[3] + quad = euler2quat(0.0, 0.0, yaw) + start.pose.orientation.w = quad[0] + start.pose.orientation.x = quad[1] + start.pose.orientation.y = quad[2] + start.pose.orientation.z = quad[3] break return start @@ -83,35 +84,14 @@ def getRandomGoal(costmap, start, max_cost, side_buffer, time_stamp, res): goal.pose.position.y = goal_y yaw = uniform(0,1) * 2*math.pi - quad = get_quaternion_from_euler(0.0, 0.0, yaw) - goal.pose.orientation.x = quad[0] - goal.pose.orientation.y = quad[1] - goal.pose.orientation.z = quad[2] - goal.pose.orientation.w = quad[3] + quad = euler2quat(0.0, 0.0, yaw) + goal.pose.orientation.w = quad[0] + goal.pose.orientation.x = quad[1] + goal.pose.orientation.y = quad[2] + goal.pose.orientation.z = quad[3] break return goal -def get_quaternion_from_euler(roll, pitch, yaw): - quad = [] - """ - Convert an Euler angle to a quaternion. - - Input - :param roll: The roll (rotation around x-axis) angle in radians. - :param pitch: The pitch (rotation around y-axis) angle in radians. - :param yaw: The yaw (rotation around z-axis) angle in radians. - - Output - :return qx, qy, qz, qw: The orientation in quaternion [x,y,z,w] format - """ - qx = np.sin(roll/2) * np.cos(pitch/2) * np.cos(yaw/2) - np.cos(roll/2) * np.sin(pitch/2) * np.sin(yaw/2) - qy = np.cos(roll/2) * np.sin(pitch/2) * np.cos(yaw/2) + np.sin(roll/2) * np.cos(pitch/2) * np.sin(yaw/2) - qz = np.cos(roll/2) * np.cos(pitch/2) * np.sin(yaw/2) - np.sin(roll/2) * np.sin(pitch/2) * np.cos(yaw/2) - qw = np.cos(roll/2) * np.cos(pitch/2) * np.cos(yaw/2) + np.sin(roll/2) * np.sin(pitch/2) * np.sin(yaw/2) - quad = [qx, qy, qz, qw] - return quad - - def main(): rclpy.init() @@ -123,8 +103,8 @@ def main(): initial_pose.header.stamp = navigator.get_clock().now().to_msg() initial_pose.pose.position.x = 1.0 initial_pose.pose.position.y = 1.0 - initial_pose.pose.orientation.z = 0.999913 - initial_pose.pose.orientation.w = 0.0131738 + initial_pose.pose.orientation.z = 0.0 + initial_pose.pose.orientation.w = 1.0 navigator.setInitialPose(initial_pose) # Wait for navigation to fully activate @@ -135,20 +115,50 @@ def main(): costmap = np.asarray(costmap_msg.data) costmap.resize(costmap_msg.metadata.size_y, costmap_msg.metadata.size_x) - # planners = ['NavFn', 'SmacLattice', 'Smac2D', 'SmacHybrid'] - planners = ['SmacLattice'] + planners = ['NavFn', 'SmacLattice', 'Smac2D', 'SmacHybrid'] + #planners = ['SmacLattice'] max_cost = 210 - side_buffer = 10 + side_buffer = 100 time_stamp = navigator.get_clock().now().to_msg() results = [] - for i in range(100): - start = getRandomStart(costmap, max_cost, side_buffer, time_stamp, costmap_msg.metadata.resolution) - goal = getRandomGoal(costmap, start, max_cost, side_buffer, time_stamp, costmap_msg.metadata.resolution) - result = getPlannerResults(navigator, start, goal, planners) - if len(result) == len(planners): - results.append(result) - else: - print("One of the planners was invalid") + seed(33) + + # random_pairs = 1000 + # for i in range(random_pairs): + # print("Cycle: ", i, "out of: ",random_pairs) + # start = getRandomStart(costmap, max_cost, side_buffer, time_stamp, costmap_msg.metadata.resolution) + # goal = getRandomGoal(costmap, start, max_cost, side_buffer, time_stamp, costmap_msg.metadata.resolution) + # print("Start", start) + # print("Goal", goal) + # result = getPlannerResults(navigator, start, goal, planners) + # if len(result) == len(planners): + # results.append(result) + # else: + # print("One of the planners was invalid") + + + start = PoseStamped() + start.pose.position.x = 2.0 + start.pose.position.y = 2.0 + start.pose.orientation.w = 1.0 + start.pose.orientation.z = 0.0 + start.header.stamp = navigator.get_clock().now().to_msg() + start.header.frame_id = 'map' + + goal = PoseStamped() + goal.pose.position.x = 98.0 + goal.pose.position.y = 55.0 + goal.pose.orientation.w = 0.998559889111465 + goal.pose.orientation.z = 0.05364837236765668 + goal.header.stamp = navigator.get_clock().now().to_msg() + goal.header.frame_id = 'map' + + results = [] + result = getPlannerResults(navigator, start, goal, planners) + if len(result) == len(planners): + results.append(result) + else: + print("One of the planners was invalid") print("Write Results...") nav2_planner_metrics_dir = get_package_share_directory('nav2_planner_metrics') @@ -156,7 +166,7 @@ def main(): pickle.dump(results, f, pickle.HIGHEST_PROTOCOL) with open(os.path.join(nav2_planner_metrics_dir, 'costmap.pickle'), 'wb') as f: - pickle.dump(costmap, f, pickle.HIGHEST_PROTOCOL) + pickle.dump(costmap_msg, f, pickle.HIGHEST_PROTOCOL) with open(os.path.join(nav2_planner_metrics_dir, 'planners.pickle'), 'wb') as f: pickle.dump(planners, f, pickle.HIGHEST_PROTOCOL) diff --git a/nav2_planner_metrics/nav2_planner_metrics/process_data.py b/nav2_planner_metrics/nav2_planner_metrics/process_data.py index 511f3506531..1f4ac2a47d5 100644 --- a/nav2_planner_metrics/nav2_planner_metrics/process_data.py +++ b/nav2_planner_metrics/nav2_planner_metrics/process_data.py @@ -52,20 +52,61 @@ def plotResults(costmap, paths): coords = getMapCoordsFromPaths(paths, costmap.metadata.resolution) data = np.asarray(costmap.data) data.resize(costmap.metadata.size_y, costmap.metadata.size_x) - data = np.where(data < 254, 0, data) + # data = np.where(data == 255, 512, data) + # data = np.where(data == 254, 384, data) + data = np.where(data <= 253, 0, data) + + #Show the cells the path went through + # for i in range(0,len(coords[0])): + # data[math.floor(coords[1][i])][math.floor(coords[0][i])] = 512 data = data * -1 plt.figure(3) ax = sns.heatmap(data, cbar=False) for i in range(0, len(coords), 2): ax.plot(coords[i], coords[i+1], linewidth=0.7) + ax.legend(loc=1, prop={'size': 26}, labels=['NavFn', 'State Lattice', '2D-A*', 'Hybrid-A*']) plt.axis('off') + ax.set_aspect('equal', 'box') plt.show() +# def averageCostOf(paths, costmap, planners): +# coords = getMapCoordsFromPaths(paths, costmap.metadata.resolution) +# data = np.asarray(costmap.data) +# data.resize(costmap.metadata.size_y, costmap.metadata.size_x) + + +# #THis is some scuffed code.. don't look to close +# total_costs = [0, 0, 0, 0] +# total_max_costs = [0, 0, 0, 0] +# k = 0 +# for i in range(0, len(coords), 2): +# total_cost = 0 +# max_cost = 0 +# for j in range(0, len(coords[i])): +# cost = data[math.floor(coords[i+1][j])][math.floor(coords[i][j])] +# total_cost += cost +# if cost > max_cost: +# max_cost = cost +# index = k%len(planners) +# total_costs[index] = total_costs[index] + total_cost/len(coords[i]) +# total_max_costs[index] = total_max_costs[index] + max_cost +# k = k +1 + + +# paths_per_planner = len(paths)/len(planners) +# average_cost_per_planner = np.asarray(total_costs) +# average_cost_per_planner = average_cost_per_planner / paths_per_planner + +# average_max_cost_per_planner = np.asarray(total_max_costs) +# average_max_cost_per_planner = average_max_cost_per_planner / paths_per_planner + +# return average_cost_per_planner, average_max_cost_per_planner + def main(): nav2_planner_metrics_dir = get_package_share_directory('nav2_planner_metrics') - + print("Read data") with open(os.path.join(nav2_planner_metrics_dir, 'costmap.pickle'), 'rb') as f: costmap = pickle.load(f) @@ -78,14 +119,15 @@ def main(): paths = getPaths(results) path_lengths = [] + # average_cost, average_max = averageCostOf(paths, costmap, planners) + for path in paths: path_lengths.append( getPathLength(path)) path_lengths = np.asarray(path_lengths) total_paths = len(paths) path_lengths.resize((int(total_paths/len(planners)), len(planners))) - path_lengths = np.transpose(path_lengths) - print(path_lengths.size) + path_lengths = path_lengths.transpose() times = getTimes(results) times = np.asarray(times) @@ -94,13 +136,13 @@ def main(): times = np.transpose(times) # Generate table - planner_table = [['Planner', 'Average Path Length (m)', 'Average Time (ms)']] + planner_table = [['Planner', 'std of path length (m)', 'std Average Time (ms)']] for i in range(0,len(planners)): - planner_table.append([planners[i], np.average(path_lengths[i]), np.average(times[i])]) + planner_table.append([planners[i], np.std(path_lengths[i]), np.std(times[i])]) - #Visualize results + # Visualize results print(tabulate(planner_table)) - # plotResults(costmap, paths) + plotResults(costmap, paths) if __name__ == '__main__': main() \ No newline at end of file diff --git a/nav2_simple_commander/nav2_simple_commander/robot_navigator.py b/nav2_simple_commander/nav2_simple_commander/robot_navigator.py index 009314442c5..b550a4a08a7 100644 --- a/nav2_simple_commander/nav2_simple_commander/robot_navigator.py +++ b/nav2_simple_commander/nav2_simple_commander/robot_navigator.py @@ -301,7 +301,7 @@ def getPath(self, start, goal, planner_id=None): self.warn(f'Getting path failed with status code: {self.status}') return None - return self.result_future.result().result.path + return self.result_future.result().result def getPathThroughPoses(self, start, goals): """Send a `ComputePathThroughPoses` action request.""" From 58571a292adb212f46f2e80aaf030befd3d39d7a Mon Sep 17 00:00:00 2001 From: Joshua Wallace Date: Tue, 1 Mar 2022 16:30:33 -0500 Subject: [PATCH 03/14] updated metrics --- nav2_bringup/maps/turtlebot3_world.yaml | 2 +- nav2_bringup/params/nav2_params.yaml | 9 +- .../nav2_planner_metrics/metrics.py | 44 +++---- .../nav2_planner_metrics/process_data.py | 109 +++++++++--------- 4 files changed, 78 insertions(+), 86 deletions(-) diff --git a/nav2_bringup/maps/turtlebot3_world.yaml b/nav2_bringup/maps/turtlebot3_world.yaml index 4d48f14b300..b75ec1e311c 100644 --- a/nav2_bringup/maps/turtlebot3_world.yaml +++ b/nav2_bringup/maps/turtlebot3_world.yaml @@ -1,4 +1,4 @@ -image: 100by100_20.pgm +image: 100by100_10.pgm resolution: 0.050000 origin: [0.0, 0.0, 0.000000] negate: 1 diff --git a/nav2_bringup/params/nav2_params.yaml b/nav2_bringup/params/nav2_params.yaml index 4e5849ffbe1..62623c9e6dd 100644 --- a/nav2_bringup/params/nav2_params.yaml +++ b/nav2_bringup/params/nav2_params.yaml @@ -281,7 +281,7 @@ planner_server: ros__parameters: expected_planner_frequency: 20.0 use_sim_time: True - planner_plugins: ["NavFn", "Smac2D", "SmacHybrid", "SmacLattice"] + planner_plugins: ["NavFn", "Smac2D", "SmacHybrid", "SmacLattice", "OMPL", "SBPL"] NavFn: plugin: "nav2_navfn_planner/NavfnPlanner" tolerance: 0.5 @@ -299,6 +299,13 @@ planner_server: tolerance: 0.5 allow_unknown: true allow_reverse_expansion: true + OMPL: + plugin: "nav2_ompl_planner/OMPLPlanner" + tolerance: 0.5 + SBPL: + plugin: "nav2_sbpl_lattice_planner/SBPLLatticePlanner" + tolerance: 0.5 + primitive_filename: "/home/josh/Downloads/default_primitives.txt" planner_server_rclcpp_node: ros__parameters: diff --git a/nav2_planner_metrics/nav2_planner_metrics/metrics.py b/nav2_planner_metrics/nav2_planner_metrics/metrics.py index f9aed213814..774138a8cf7 100644 --- a/nav2_planner_metrics/nav2_planner_metrics/metrics.py +++ b/nav2_planner_metrics/nav2_planner_metrics/metrics.py @@ -115,43 +115,25 @@ def main(): costmap = np.asarray(costmap_msg.data) costmap.resize(costmap_msg.metadata.size_y, costmap_msg.metadata.size_x) - planners = ['NavFn', 'SmacLattice', 'Smac2D', 'SmacHybrid'] - #planners = ['SmacLattice'] + planners = ['NavFn', 'SmacLattice', 'Smac2D', 'SmacHybrid', 'SBPL', 'OMPL'] max_cost = 210 side_buffer = 100 time_stamp = navigator.get_clock().now().to_msg() results = [] seed(33) - # random_pairs = 1000 - # for i in range(random_pairs): - # print("Cycle: ", i, "out of: ",random_pairs) - # start = getRandomStart(costmap, max_cost, side_buffer, time_stamp, costmap_msg.metadata.resolution) - # goal = getRandomGoal(costmap, start, max_cost, side_buffer, time_stamp, costmap_msg.metadata.resolution) - # print("Start", start) - # print("Goal", goal) - # result = getPlannerResults(navigator, start, goal, planners) - # if len(result) == len(planners): - # results.append(result) - # else: - # print("One of the planners was invalid") - - - start = PoseStamped() - start.pose.position.x = 2.0 - start.pose.position.y = 2.0 - start.pose.orientation.w = 1.0 - start.pose.orientation.z = 0.0 - start.header.stamp = navigator.get_clock().now().to_msg() - start.header.frame_id = 'map' - - goal = PoseStamped() - goal.pose.position.x = 98.0 - goal.pose.position.y = 55.0 - goal.pose.orientation.w = 0.998559889111465 - goal.pose.orientation.z = 0.05364837236765668 - goal.header.stamp = navigator.get_clock().now().to_msg() - goal.header.frame_id = 'map' + random_pairs = 100 + for i in range(random_pairs): + print("Cycle: ", i, "out of: ",random_pairs) + start = getRandomStart(costmap, max_cost, side_buffer, time_stamp, costmap_msg.metadata.resolution) + goal = getRandomGoal(costmap, start, max_cost, side_buffer, time_stamp, costmap_msg.metadata.resolution) + print("Start", start) + print("Goal", goal) + result = getPlannerResults(navigator, start, goal, planners) + if len(result) == len(planners): + results.append(result) + else: + print("One of the planners was invalid") results = [] result = getPlannerResults(navigator, start, goal, planners) diff --git a/nav2_planner_metrics/nav2_planner_metrics/process_data.py b/nav2_planner_metrics/nav2_planner_metrics/process_data.py index 1f4ac2a47d5..ffeeb402ec2 100644 --- a/nav2_planner_metrics/nav2_planner_metrics/process_data.py +++ b/nav2_planner_metrics/nav2_planner_metrics/process_data.py @@ -21,7 +21,7 @@ def getTimes(results): times = [] for result in results: for time in result: - times.append(time.planning_time.nanosec) + times.append(time.planning_time.nanosec/1e09 + time.planning_time.sec) return times def getMapCoordsFromPaths(paths, resolution): @@ -52,75 +52,74 @@ def plotResults(costmap, paths): coords = getMapCoordsFromPaths(paths, costmap.metadata.resolution) data = np.asarray(costmap.data) data.resize(costmap.metadata.size_y, costmap.metadata.size_x) - # data = np.where(data == 255, 512, data) - # data = np.where(data == 254, 384, data) data = np.where(data <= 253, 0, data) - #Show the cells the path went through - # for i in range(0,len(coords[0])): - # data[math.floor(coords[1][i])][math.floor(coords[0][i])] = 512 - data = data * -1 plt.figure(3) - ax = sns.heatmap(data, cbar=False) + ax = sns.heatmap(data, cmap='Greys', cbar=False) for i in range(0, len(coords), 2): ax.plot(coords[i], coords[i+1], linewidth=0.7) - ax.legend(loc=1, prop={'size': 26}, labels=['NavFn', 'State Lattice', '2D-A*', 'Hybrid-A*']) plt.axis('off') ax.set_aspect('equal', 'box') plt.show() -# def averageCostOf(paths, costmap, planners): -# coords = getMapCoordsFromPaths(paths, costmap.metadata.resolution) -# data = np.asarray(costmap.data) -# data.resize(costmap.metadata.size_y, costmap.metadata.size_x) - - -# #THis is some scuffed code.. don't look to close -# total_costs = [0, 0, 0, 0] -# total_max_costs = [0, 0, 0, 0] -# k = 0 -# for i in range(0, len(coords), 2): -# total_cost = 0 -# max_cost = 0 -# for j in range(0, len(coords[i])): -# cost = data[math.floor(coords[i+1][j])][math.floor(coords[i][j])] -# total_cost += cost -# if cost > max_cost: -# max_cost = cost -# index = k%len(planners) -# total_costs[index] = total_costs[index] + total_cost/len(coords[i]) -# total_max_costs[index] = total_max_costs[index] + max_cost -# k = k +1 - - -# paths_per_planner = len(paths)/len(planners) -# average_cost_per_planner = np.asarray(total_costs) -# average_cost_per_planner = average_cost_per_planner / paths_per_planner - -# average_max_cost_per_planner = np.asarray(total_max_costs) -# average_max_cost_per_planner = average_max_cost_per_planner / paths_per_planner - -# return average_cost_per_planner, average_max_cost_per_planner - +def averagePathCost(paths, costmap, num_of_planners): + coords = getMapCoordsFromPaths(paths, costmap.metadata.resolution) + data = np.asarray(costmap.data) + data.resize(costmap.metadata.size_y, costmap.metadata.size_x) + + average_path_costs = [] + for i in range(num_of_planners): + average_path_costs.append([]) + + k = 0 + for i in range(0, len(coords), 2): + costs = [] + for j in range(len(coords[i])): + costs.append(data[math.floor(coords[i+1][j])][math.floor(coords[i][j])]) + average_path_costs[k%num_of_planners].append( sum(costs)/len(costs)) + k += 1 + + return average_path_costs + + +def maxPathCost(paths, costmap, num_of_planners): + coords = getMapCoordsFromPaths(paths, costmap.metadata.resolution) + data = np.asarray(costmap.data) + data.resize(costmap.metadata.size_y, costmap.metadata.size_x) + + max_path_costs = [] + for i in range(num_of_planners): + max_path_costs.append([]) + + k = 0 + for i in range(0, len(coords), 2): + max_cost = 0 + for j in range(len(coords[i])): + cost = data[math.floor(coords[i+1][j])][math.floor(coords[i][j])] + if max_cost < cost: + max_cost = cost + max_path_costs[k%num_of_planners].append(max_cost) + k += 1 + + return max_path_costs def main(): nav2_planner_metrics_dir = get_package_share_directory('nav2_planner_metrics') print("Read data") - with open(os.path.join(nav2_planner_metrics_dir, 'costmap.pickle'), 'rb') as f: - costmap = pickle.load(f) - - with open(os.path.join(nav2_planner_metrics_dir, 'results.pickle'), 'rb') as f: + with open(os.path.join(nav2_planner_metrics_dir,'results.pickle'), 'rb') as f: results = pickle.load(f) - - with open(os.path.join(nav2_planner_metrics_dir, 'planners.pickle'), 'rb') as f: + + with open(os.path.join(nav2_planner_metrics_dir,'planners.pickle'), 'rb') as f: planners = pickle.load(f) + + with open(os.path.join(nav2_planner_metrics_dir, 'costmap.pickle'), 'rb') as f: + costmap = pickle.load(f) + paths = getPaths(results) path_lengths = [] - # average_cost, average_max = averageCostOf(paths, costmap, planners) - for path in paths: path_lengths.append( getPathLength(path)) path_lengths = np.asarray(path_lengths) @@ -131,14 +130,18 @@ def main(): times = getTimes(results) times = np.asarray(times) - times = times * 0.000001; # convert nano to milli times.resize((int(total_paths/len(planners)), len(planners))) times = np.transpose(times) + + # Costs + average_path_costs = np.asarray(averagePathCost(paths, costmap, len(planners))) + max_path_costs = np.asarray(maxPathCost(paths, costmap, len(planners))) + # Generate table - planner_table = [['Planner', 'std of path length (m)', 'std Average Time (ms)']] + planner_table = [['Planner', 'Average path length (m)', 'Average Time (s)', 'Average cost', 'Max cost']] for i in range(0,len(planners)): - planner_table.append([planners[i], np.std(path_lengths[i]), np.std(times[i])]) + planner_table.append([planners[i], np.average(path_lengths[i]), np.average(times[i]), np.average(average_path_costs[i]), np.average(max_path_costs[i])]) # Visualize results print(tabulate(planner_table)) From e563524135b715005529c2e221eb6231678873ba Mon Sep 17 00:00:00 2001 From: Joshua Wallace Date: Tue, 1 Mar 2022 16:41:49 -0500 Subject: [PATCH 04/14] reverted planner server --- nav2_planner/src/planner_server.cpp | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/nav2_planner/src/planner_server.cpp b/nav2_planner/src/planner_server.cpp index f46ed274554..4a62b1e83ec 100644 --- a/nav2_planner/src/planner_server.cpp +++ b/nav2_planner/src/planner_server.cpp @@ -286,7 +286,7 @@ bool PlannerServer::getStartPose( typename std::shared_ptr goal, geometry_msgs::msg::PoseStamped & start) { - if (true) { + if (goal->use_start) { start = goal->start; } else if (!costmap_ros_->getRobotPose(start)) { action_server->terminate_current(); @@ -461,10 +461,7 @@ PlannerServer::computePlan() return; } - auto planning_start = steady_clock_.now(); result->path = getPlan(start, goal_pose, goal->planner_id); - auto planning_duration = steady_clock_.now() - planning_start; - result->planning_time = planning_duration; if (!validatePath(action_server_pose_, goal_pose, result->path, goal->planner_id)) { return; @@ -474,7 +471,7 @@ PlannerServer::computePlan() publishPlan(result->path); auto cycle_duration = steady_clock_.now() - start_time; - // result->planning_time = cycle_duration; + result->planning_time = cycle_duration; if (max_planner_duration_ && cycle_duration.seconds() > max_planner_duration_) { RCLCPP_WARN( From 67d52aa05cbe5618202d7cb50eed2b1db476fd85 Mon Sep 17 00:00:00 2001 From: Joshua Wallace Date: Tue, 1 Mar 2022 16:45:51 -0500 Subject: [PATCH 05/14] revert launch changes --- nav2_bringup/launch/tb3_simulation_launch.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/nav2_bringup/launch/tb3_simulation_launch.py b/nav2_bringup/launch/tb3_simulation_launch.py index fbc38d00962..c3354075169 100644 --- a/nav2_bringup/launch/tb3_simulation_launch.py +++ b/nav2_bringup/launch/tb3_simulation_launch.py @@ -103,7 +103,7 @@ def generate_launch_description(): description='Automatically startup the nav2 stack') declare_use_composition_cmd = DeclareLaunchArgument( - 'use_composition', default_value='False', + 'use_composition', default_value='True', description='Whether to use composed bringup') declare_rviz_config_file_cmd = DeclareLaunchArgument( @@ -129,7 +129,7 @@ def generate_launch_description(): declare_simulator_cmd = DeclareLaunchArgument( 'headless', - default_value='True', + default_value='False', description='Whether to execute gzclient)') declare_world_cmd = DeclareLaunchArgument( From 142da624bf580f456184c01638be05a9c85069ba Mon Sep 17 00:00:00 2001 From: Joshua Wallace Date: Tue, 1 Mar 2022 16:50:17 -0500 Subject: [PATCH 06/14] remove edits --- nav2_bringup/maps/turtlebot3_world.yaml | 4 +-- nav2_map_server/CMakeLists.txt | 1 - nav2_map_server/launch/map_server_launch.py | 30 ------------------ .../maps/100by100_10.pgm | Bin .../maps/100by100_15.pgm | Bin .../maps/100by100_20.pgm | Bin .../maps/100by50_10.pgm | Bin .../nav2_planner_metrics/metrics.py | 9 +----- 8 files changed, 3 insertions(+), 41 deletions(-) delete mode 100644 nav2_map_server/launch/map_server_launch.py rename {nav2_bringup => nav2_planner_metrics}/maps/100by100_10.pgm (100%) rename {nav2_bringup => nav2_planner_metrics}/maps/100by100_15.pgm (100%) rename {nav2_bringup => nav2_planner_metrics}/maps/100by100_20.pgm (100%) rename {nav2_bringup => nav2_planner_metrics}/maps/100by50_10.pgm (100%) diff --git a/nav2_bringup/maps/turtlebot3_world.yaml b/nav2_bringup/maps/turtlebot3_world.yaml index b75ec1e311c..ff01f009201 100644 --- a/nav2_bringup/maps/turtlebot3_world.yaml +++ b/nav2_bringup/maps/turtlebot3_world.yaml @@ -1,6 +1,6 @@ -image: 100by100_10.pgm +image: turtlebot3_world.pgm resolution: 0.050000 origin: [0.0, 0.0, 0.000000] -negate: 1 +negate: 0 occupied_thresh: 0.65 free_thresh: 0.196 diff --git a/nav2_map_server/CMakeLists.txt b/nav2_map_server/CMakeLists.txt index 184b25beb1e..c24e5e5c4d5 100644 --- a/nav2_map_server/CMakeLists.txt +++ b/nav2_map_server/CMakeLists.txt @@ -1,6 +1,5 @@ cmake_minimum_required(VERSION 3.5) project(nav2_map_server) -add_compile_options(-g) list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_LIST_DIR}/cmake_modules) diff --git a/nav2_map_server/launch/map_server_launch.py b/nav2_map_server/launch/map_server_launch.py deleted file mode 100644 index 70b2fac9887..00000000000 --- a/nav2_map_server/launch/map_server_launch.py +++ /dev/null @@ -1,30 +0,0 @@ -import os - -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch_ros.actions import Node -from ament_index_python.packages import get_package_share_directory - -def generate_launch_description(): - - lifecycle_nodes = ['map_server'] - - return LaunchDescription([ - Node( - package='nav2_map_server', - executable='map_server', - name='map_server', - output='screen', - prefix=['xterm -e gdb -ex run --args'], - parameters=[{'use_sim_time': True}, - {'yaml_filename': "/home/josh/nav2_ws/src/navigation2/nav2_bringup/maps/turtlebot3_world.yaml"}, - {'topic_name': "map"}]), - Node( - package='nav2_lifecycle_manager', - executable='lifecycle_manager', - name='lifecycle_manager_localization', - output='screen', - parameters=[{'use_sim_time': True}, - {'autostart': True}, - {'node_names': lifecycle_nodes}]) - ]) \ No newline at end of file diff --git a/nav2_bringup/maps/100by100_10.pgm b/nav2_planner_metrics/maps/100by100_10.pgm similarity index 100% rename from nav2_bringup/maps/100by100_10.pgm rename to nav2_planner_metrics/maps/100by100_10.pgm diff --git a/nav2_bringup/maps/100by100_15.pgm b/nav2_planner_metrics/maps/100by100_15.pgm similarity index 100% rename from nav2_bringup/maps/100by100_15.pgm rename to nav2_planner_metrics/maps/100by100_15.pgm diff --git a/nav2_bringup/maps/100by100_20.pgm b/nav2_planner_metrics/maps/100by100_20.pgm similarity index 100% rename from nav2_bringup/maps/100by100_20.pgm rename to nav2_planner_metrics/maps/100by100_20.pgm diff --git a/nav2_bringup/maps/100by50_10.pgm b/nav2_planner_metrics/maps/100by50_10.pgm similarity index 100% rename from nav2_bringup/maps/100by50_10.pgm rename to nav2_planner_metrics/maps/100by50_10.pgm diff --git a/nav2_planner_metrics/nav2_planner_metrics/metrics.py b/nav2_planner_metrics/nav2_planner_metrics/metrics.py index 774138a8cf7..9caca6d673b 100644 --- a/nav2_planner_metrics/nav2_planner_metrics/metrics.py +++ b/nav2_planner_metrics/nav2_planner_metrics/metrics.py @@ -115,7 +115,7 @@ def main(): costmap = np.asarray(costmap_msg.data) costmap.resize(costmap_msg.metadata.size_y, costmap_msg.metadata.size_x) - planners = ['NavFn', 'SmacLattice', 'Smac2D', 'SmacHybrid', 'SBPL', 'OMPL'] + planners = ['NavFn'] max_cost = 210 side_buffer = 100 time_stamp = navigator.get_clock().now().to_msg() @@ -134,13 +134,6 @@ def main(): results.append(result) else: print("One of the planners was invalid") - - results = [] - result = getPlannerResults(navigator, start, goal, planners) - if len(result) == len(planners): - results.append(result) - else: - print("One of the planners was invalid") print("Write Results...") nav2_planner_metrics_dir = get_package_share_directory('nav2_planner_metrics') From 0b22c17f2409b867fad1395f7d382430b6b936d4 Mon Sep 17 00:00:00 2001 From: Joshua Wallace Date: Tue, 1 Mar 2022 16:56:28 -0500 Subject: [PATCH 07/14] reverted nav2_bringup --- nav2_bringup/maps/turtlebot3_world.yaml | 2 +- nav2_bringup/params/nav2_params.yaml | 29 +++++-------------------- nav2_bringup/worlds/world_only.model | 4 ++-- 3 files changed, 8 insertions(+), 27 deletions(-) diff --git a/nav2_bringup/maps/turtlebot3_world.yaml b/nav2_bringup/maps/turtlebot3_world.yaml index ff01f009201..51d4387e3a9 100644 --- a/nav2_bringup/maps/turtlebot3_world.yaml +++ b/nav2_bringup/maps/turtlebot3_world.yaml @@ -1,6 +1,6 @@ image: turtlebot3_world.pgm resolution: 0.050000 -origin: [0.0, 0.0, 0.000000] +origin: [-10.000000, -10.000000, 0.000000] negate: 0 occupied_thresh: 0.65 free_thresh: 0.196 diff --git a/nav2_bringup/params/nav2_params.yaml b/nav2_bringup/params/nav2_params.yaml index 62623c9e6dd..fe30862e983 100644 --- a/nav2_bringup/params/nav2_params.yaml +++ b/nav2_bringup/params/nav2_params.yaml @@ -187,7 +187,7 @@ local_costmap: width: 3 height: 3 resolution: 0.05 - robot_radius: 0.5 + robot_radius: 0.22 plugins: ["voxel_layer", "inflation_layer"] inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" @@ -254,8 +254,8 @@ global_costmap: map_subscribe_transient_local: True inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" - cost_scaling_factor: 1.0 - inflation_radius: 5.5 + cost_scaling_factor: 3.0 + inflation_radius: 0.55 always_send_full_costmap: True global_costmap_client: ros__parameters: @@ -281,31 +281,12 @@ planner_server: ros__parameters: expected_planner_frequency: 20.0 use_sim_time: True - planner_plugins: ["NavFn", "Smac2D", "SmacHybrid", "SmacLattice", "OMPL", "SBPL"] - NavFn: + planner_plugins: ["GridBased"] + GridBased: plugin: "nav2_navfn_planner/NavfnPlanner" tolerance: 0.5 use_astar: false allow_unknown: true - Smac2D: - plugin: "nav2_smac_planner/SmacPlanner2D" - tolerance: 0.5 - SmacHybrid: - plugin: "nav2_smac_planner/SmacPlannerHybrid" - tolerance: 0.5 - motion_model_for_search: REEDS_SHEPP - SmacLattice: - plugin: "nav2_smac_planner/SmacPlannerLattice" - tolerance: 0.5 - allow_unknown: true - allow_reverse_expansion: true - OMPL: - plugin: "nav2_ompl_planner/OMPLPlanner" - tolerance: 0.5 - SBPL: - plugin: "nav2_sbpl_lattice_planner/SBPLLatticePlanner" - tolerance: 0.5 - primitive_filename: "/home/josh/Downloads/default_primitives.txt" planner_server_rclcpp_node: ros__parameters: diff --git a/nav2_bringup/worlds/world_only.model b/nav2_bringup/worlds/world_only.model index 62b2f67844d..4c45d4e2f94 100644 --- a/nav2_bringup/worlds/world_only.model +++ b/nav2_bringup/worlds/world_only.model @@ -43,12 +43,12 @@ - + From fefaa1bf964dde0f0c76c32c4750884393427618 Mon Sep 17 00:00:00 2001 From: Joshua Wallace Date: Tue, 1 Mar 2022 17:03:30 -0500 Subject: [PATCH 08/14] revet robot navigator --- nav2_simple_commander/nav2_simple_commander/robot_navigator.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/nav2_simple_commander/nav2_simple_commander/robot_navigator.py b/nav2_simple_commander/nav2_simple_commander/robot_navigator.py index b550a4a08a7..009314442c5 100644 --- a/nav2_simple_commander/nav2_simple_commander/robot_navigator.py +++ b/nav2_simple_commander/nav2_simple_commander/robot_navigator.py @@ -301,7 +301,7 @@ def getPath(self, start, goal, planner_id=None): self.warn(f'Getting path failed with status code: {self.status}') return None - return self.result_future.result().result + return self.result_future.result().result.path def getPathThroughPoses(self, start, goals): """Send a `ComputePathThroughPoses` action request.""" From adbb639d20004b83c29b2303e9494de81d666043 Mon Sep 17 00:00:00 2001 From: Joshua Wallace Date: Tue, 1 Mar 2022 17:05:49 -0500 Subject: [PATCH 09/14] add spaces --- .../nav2_planner_metrics/metrics.py | 6 ++++-- .../nav2_planner_metrics/process_data.py | 17 ++++++++++++++++- nav2_planner_metrics/package.xml | 6 +++--- 3 files changed, 23 insertions(+), 6 deletions(-) diff --git a/nav2_planner_metrics/nav2_planner_metrics/metrics.py b/nav2_planner_metrics/nav2_planner_metrics/metrics.py index 9caca6d673b..7cde5d88b7f 100644 --- a/nav2_planner_metrics/nav2_planner_metrics/metrics.py +++ b/nav2_planner_metrics/nav2_planner_metrics/metrics.py @@ -1,5 +1,5 @@ #! /usr/bin/env python3 -# Copyright 2022 Samsung Research America +# Copyright 2022 Joshua Wallace # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. @@ -34,6 +34,8 @@ from transforms3d.euler import euler2quat +#Note: Map origin is assumed to be (0,0) + def getPlannerResults(navigator, initial_pose, goal_pose, planners): results = [] for planner in planners: @@ -151,4 +153,4 @@ def main(): exit(0) if __name__ == '__main__': - main() \ No newline at end of file + main() diff --git a/nav2_planner_metrics/nav2_planner_metrics/process_data.py b/nav2_planner_metrics/nav2_planner_metrics/process_data.py index ffeeb402ec2..263b7eb8260 100644 --- a/nav2_planner_metrics/nav2_planner_metrics/process_data.py +++ b/nav2_planner_metrics/nav2_planner_metrics/process_data.py @@ -1,3 +1,18 @@ +#! /usr/bin/env python3 +# Copyright 2022 Joshua Wallace +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + from nav2_msgs.action import ComputePathToPose import numpy as np import math @@ -148,4 +163,4 @@ def main(): plotResults(costmap, paths) if __name__ == '__main__': - main() \ No newline at end of file + main() diff --git a/nav2_planner_metrics/package.xml b/nav2_planner_metrics/package.xml index cfa5600df37..1067a2113bd 100644 --- a/nav2_planner_metrics/package.xml +++ b/nav2_planner_metrics/package.xml @@ -3,9 +3,9 @@ nav2_planner_metrics 0.0.0 - TODO: Package description - josh - TODO: License declaration + Generates planner metrics and analyze the results + Joshua Wallace + Apache-2.0 python-enum34 rclpy From b73568eb6f8cc221a15fd2b74a9a76aaba138a38 Mon Sep 17 00:00:00 2001 From: Joshua Wallace Date: Tue, 1 Mar 2022 17:09:17 -0500 Subject: [PATCH 10/14] removed map --- nav2_planner_metrics/maps/100by50_10.pgm | Bin 2000017 -> 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zzyJm?fB_6(00S7n00uCC0SsUO0~o*n1~7mD3}65Q7{CAqFn|FJU;qOczyJm?fB_6( z00S7n00uCC0SsUO0~o*n1~7mD3}65Q7{CAqFn|FJU;qOczyJm?fB_6(00S7n00uCC z0SsUO0~o*n1~7mD3}65Q7{CAqFn|FJU;qOczyJm?fB_6(00S7n00uCC0SsUO0~o*n z1~7mD3}65Q7{CAqFn|FJU;qOczyJm?fB_6(00S7n00uCC0SsUO0~o*n1~7mD3}65Q z7{CAqFn|FJU;qOczyJm?fB_6(00S7n00uCC0SsUO0~o*n1~7mD3}65Q7{CAqFn|FJ NU;qOcz`&n@{{YwX;fnwO From 16ae740fac7893e5ba817a9c1b99fe5031fb8bee Mon Sep 17 00:00:00 2001 From: Joshua Wallace Date: Tue, 1 Mar 2022 17:24:04 -0500 Subject: [PATCH 11/14] linting fix --- .../nav2_planner_metrics/metrics.py | 37 +++++++------- .../nav2_planner_metrics/process_data.py | 50 +++++++++++-------- 2 files changed, 48 insertions(+), 39 deletions(-) diff --git a/nav2_planner_metrics/nav2_planner_metrics/metrics.py b/nav2_planner_metrics/nav2_planner_metrics/metrics.py index 7cde5d88b7f..685a2ec60b7 100644 --- a/nav2_planner_metrics/nav2_planner_metrics/metrics.py +++ b/nav2_planner_metrics/nav2_planner_metrics/metrics.py @@ -16,16 +16,11 @@ from geometry_msgs.msg import PoseStamped from nav2_simple_commander.robot_navigator import BasicNavigator import rclpy -from rclpy.node import Node -from rclpy.duration import Duration -from rcl_interfaces.msg import ParameterValue, ParameterType, Parameter -from rcl_interfaces.srv import SetParameters from ament_index_python.packages import get_package_share_directory -import time import math -import os -import pickle +import os +import pickle import numpy as np from random import seed @@ -34,7 +29,8 @@ from transforms3d.euler import euler2quat -#Note: Map origin is assumed to be (0,0) +# Note: Map origin is assumed to be (0,0) + def getPlannerResults(navigator, initial_pose, goal_pose, planners): results = [] @@ -44,6 +40,7 @@ def getPlannerResults(navigator, initial_pose, goal_pose, planners): results.append(path) return results + def getRandomStart(costmap, max_cost, side_buffer, time_stamp, res): start = PoseStamped() start.header.frame_id = 'map' @@ -56,7 +53,7 @@ def getRandomStart(costmap, max_cost, side_buffer, time_stamp, res): start.pose.position.x = col*res start.pose.position.y = row*res - yaw = uniform(0,1) * 2*math.pi + yaw = uniform(0, 1) * 2*math.pi quad = euler2quat(0.0, 0.0, yaw) start.pose.orientation.w = quad[0] start.pose.orientation.x = quad[1] @@ -65,6 +62,7 @@ def getRandomStart(costmap, max_cost, side_buffer, time_stamp, res): break return start + def getRandomGoal(costmap, start, max_cost, side_buffer, time_stamp, res): goal = PoseStamped() goal.header.frame_id = 'map' @@ -73,19 +71,19 @@ def getRandomGoal(costmap, start, max_cost, side_buffer, time_stamp, res): row = randint(side_buffer, costmap.shape[0]-side_buffer) col = randint(side_buffer, costmap.shape[1]-side_buffer) - start_x = start.pose.position.x + start_x = start.pose.position.x start_y = start.pose.position.y goal_x = col*res goal_y = row*res x_diff = goal_x - start_x y_diff = goal_y - start_y - dist = math.sqrt( x_diff ** 2 + y_diff ** 2) + dist = math.sqrt(x_diff ** 2 + y_diff ** 2) if costmap[row, col] < max_cost and dist > 3.0: goal.pose.position.x = goal_x goal.pose.position.y = goal_y - yaw = uniform(0,1) * 2*math.pi + yaw = uniform(0, 1) * 2*math.pi quad = euler2quat(0.0, 0.0, yaw) goal.pose.orientation.w = quad[0] goal.pose.orientation.x = quad[1] @@ -94,6 +92,7 @@ def getRandomGoal(costmap, start, max_cost, side_buffer, time_stamp, res): break return goal + def main(): rclpy.init() @@ -112,7 +111,7 @@ def main(): # Wait for navigation to fully activate navigator.waitUntilNav2Active() - #Get the costmap for plotting and start/goal validation + # Get the costmap for start/goal validation costmap_msg = navigator.getGlobalCostmap() costmap = np.asarray(costmap_msg.data) costmap.resize(costmap_msg.metadata.size_y, costmap_msg.metadata.size_x) @@ -125,21 +124,22 @@ def main(): seed(33) random_pairs = 100 + res = costmap_msg.metadata.resolution for i in range(random_pairs): - print("Cycle: ", i, "out of: ",random_pairs) - start = getRandomStart(costmap, max_cost, side_buffer, time_stamp, costmap_msg.metadata.resolution) - goal = getRandomGoal(costmap, start, max_cost, side_buffer, time_stamp, costmap_msg.metadata.resolution) + print("Cycle: ", i, "out of: ", random_pairs) + start = getRandomStart(costmap, max_cost, side_buffer, time_stamp, res) + goal = getRandomGoal(costmap, start, max_cost, side_buffer, time_stamp, res) print("Start", start) print("Goal", goal) result = getPlannerResults(navigator, start, goal, planners) - if len(result) == len(planners): + if len(result) == len(planners): results.append(result) else: print("One of the planners was invalid") print("Write Results...") nav2_planner_metrics_dir = get_package_share_directory('nav2_planner_metrics') - with open(os.path.join(nav2_planner_metrics_dir, 'results.pickle'),'wb') as f: + with open(os.path.join(nav2_planner_metrics_dir, 'results.pickle'), 'wb') as f: pickle.dump(results, f, pickle.HIGHEST_PROTOCOL) with open(os.path.join(nav2_planner_metrics_dir, 'costmap.pickle'), 'wb') as f: @@ -152,5 +152,6 @@ def main(): navigator.lifecycleShutdown() exit(0) + if __name__ == '__main__': main() diff --git a/nav2_planner_metrics/nav2_planner_metrics/process_data.py b/nav2_planner_metrics/nav2_planner_metrics/process_data.py index 263b7eb8260..443da00266f 100644 --- a/nav2_planner_metrics/nav2_planner_metrics/process_data.py +++ b/nav2_planner_metrics/nav2_planner_metrics/process_data.py @@ -13,7 +13,6 @@ # See the License for the specific language governing permissions and # limitations under the License. -from nav2_msgs.action import ComputePathToPose import numpy as np import math @@ -25,13 +24,15 @@ import matplotlib.pylab as plt from tabulate import tabulate + def getPaths(results): - paths = [] + paths = [] for result in results: for path in result: paths.append(path.path) return paths + def getTimes(results): times = [] for result in results: @@ -39,6 +40,7 @@ def getTimes(results): times.append(time.planning_time.nanosec/1e09 + time.planning_time.sec) return times + def getMapCoordsFromPaths(paths, resolution): coords = [] for path in paths: @@ -51,6 +53,7 @@ def getMapCoordsFromPaths(paths, resolution): coords.append(y) return coords + def getPathLength(path): path_length = 0 x_prev = path.poses[0].pose.position.x @@ -63,6 +66,7 @@ def getPathLength(path): y_prev = y_curr return path_length + def plotResults(costmap, paths): coords = getMapCoordsFromPaths(paths, costmap.metadata.resolution) data = np.asarray(costmap.data) @@ -77,10 +81,11 @@ def plotResults(costmap, paths): ax.set_aspect('equal', 'box') plt.show() + def averagePathCost(paths, costmap, num_of_planners): coords = getMapCoordsFromPaths(paths, costmap.metadata.resolution) data = np.asarray(costmap.data) - data.resize(costmap.metadata.size_y, costmap.metadata.size_x) + data.resize(costmap.metadata.size_y, costmap.metadata.size_x) average_path_costs = [] for i in range(num_of_planners): @@ -91,16 +96,16 @@ def averagePathCost(paths, costmap, num_of_planners): costs = [] for j in range(len(coords[i])): costs.append(data[math.floor(coords[i+1][j])][math.floor(coords[i][j])]) - average_path_costs[k%num_of_planners].append( sum(costs)/len(costs)) + average_path_costs[k % num_of_planners].append(sum(costs)/len(costs)) k += 1 - + return average_path_costs def maxPathCost(paths, costmap, num_of_planners): coords = getMapCoordsFromPaths(paths, costmap.metadata.resolution) data = np.asarray(costmap.data) - data.resize(costmap.metadata.size_y, costmap.metadata.size_x) + data.resize(costmap.metadata.size_y, costmap.metadata.size_x) max_path_costs = [] for i in range(num_of_planners): @@ -112,31 +117,31 @@ def maxPathCost(paths, costmap, num_of_planners): for j in range(len(coords[i])): cost = data[math.floor(coords[i+1][j])][math.floor(coords[i][j])] if max_cost < cost: - max_cost = cost - max_path_costs[k%num_of_planners].append(max_cost) + max_cost = cost + max_path_costs[k % num_of_planners].append(max_cost) k += 1 - + return max_path_costs + def main(): nav2_planner_metrics_dir = get_package_share_directory('nav2_planner_metrics') print("Read data") - with open(os.path.join(nav2_planner_metrics_dir,'results.pickle'), 'rb') as f: + with open(os.path.join(nav2_planner_metrics_dir, 'results.pickle'), 'rb') as f: results = pickle.load(f) - with open(os.path.join(nav2_planner_metrics_dir,'planners.pickle'), 'rb') as f: - planners = pickle.load(f) - - with open(os.path.join(nav2_planner_metrics_dir, 'costmap.pickle'), 'rb') as f: - costmap = pickle.load(f) + with open(os.path.join(nav2_planner_metrics_dir, 'planners.pickle'), 'rb') as f: + planners = pickle.load(f) + with open(os.path.join(nav2_planner_metrics_dir, 'costmap.pickle'), 'rb') as f: + costmap = pickle.load(f) paths = getPaths(results) path_lengths = [] for path in paths: - path_lengths.append( getPathLength(path)) + path_lengths.append(getPathLength(path)) path_lengths = np.asarray(path_lengths) total_paths = len(paths) @@ -148,19 +153,22 @@ def main(): times.resize((int(total_paths/len(planners)), len(planners))) times = np.transpose(times) - - # Costs + # Costs average_path_costs = np.asarray(averagePathCost(paths, costmap, len(planners))) max_path_costs = np.asarray(maxPathCost(paths, costmap, len(planners))) # Generate table - planner_table = [['Planner', 'Average path length (m)', 'Average Time (s)', 'Average cost', 'Max cost']] - for i in range(0,len(planners)): - planner_table.append([planners[i], np.average(path_lengths[i]), np.average(times[i]), np.average(average_path_costs[i]), np.average(max_path_costs[i])]) + planner_table = [['Planner', 'Average path length (m)', 'Average Time (s)', + 'Average cost', 'Max cost']] + + for i in range(0, len(planners)): + planner_table.append([planners[i], np.average(path_lengths[i]), np.average(times[i]), + np.average(average_path_costs[i]), np.average(max_path_costs[i])]) # Visualize results print(tabulate(planner_table)) plotResults(costmap, paths) + if __name__ == '__main__': main() From 0aecfe104de3530614694dd50b7e5c69b01c305c Mon Sep 17 00:00:00 2001 From: Joshua Wallace Date: Thu, 3 Mar 2022 17:38:36 -0500 Subject: [PATCH 12/14] removed package, moved valuable stuff to tools --- nav2_planner_metrics/maps/100by100_10.pgm | Bin 4000017 -> 0 bytes nav2_planner_metrics/maps/100by100_15.pgm | Bin 4000017 -> 0 bytes nav2_planner_metrics/maps/100by100_20.pgm | Bin 4000017 -> 0 bytes .../nav2_planner_metrics/__init__.py | 0 nav2_planner_metrics/package.xml | 25 ---------------- .../resource/nav2_planner_metrics | 0 nav2_planner_metrics/setup.cfg | 4 --- nav2_planner_metrics/setup.py | 27 ------------------ nav2_planner_metrics/test/test_copyright.py | 25 ---------------- nav2_planner_metrics/test/test_flake8.py | 25 ---------------- nav2_planner_metrics/test/test_pep257.py | 23 --------------- .../nav2_planner_metrics => tools}/metrics.py | 0 .../process_data.py | 0 13 files changed, 129 deletions(-) delete mode 100644 nav2_planner_metrics/maps/100by100_10.pgm delete mode 100644 nav2_planner_metrics/maps/100by100_15.pgm delete mode 100644 nav2_planner_metrics/maps/100by100_20.pgm delete mode 100644 nav2_planner_metrics/nav2_planner_metrics/__init__.py delete mode 100644 nav2_planner_metrics/package.xml delete mode 100644 nav2_planner_metrics/resource/nav2_planner_metrics delete mode 100644 nav2_planner_metrics/setup.cfg delete mode 100644 nav2_planner_metrics/setup.py delete mode 100644 nav2_planner_metrics/test/test_copyright.py delete mode 100644 nav2_planner_metrics/test/test_flake8.py delete mode 100644 nav2_planner_metrics/test/test_pep257.py rename {nav2_planner_metrics/nav2_planner_metrics => tools}/metrics.py (100%) rename {nav2_planner_metrics/nav2_planner_metrics => tools}/process_data.py (100%) diff --git a/nav2_planner_metrics/maps/100by100_10.pgm b/nav2_planner_metrics/maps/100by100_10.pgm deleted file mode 100644 index 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a/nav2_planner_metrics/package.xml b/nav2_planner_metrics/package.xml deleted file mode 100644 index 1067a2113bd..00000000000 --- a/nav2_planner_metrics/package.xml +++ /dev/null @@ -1,25 +0,0 @@ - - - - nav2_planner_metrics - 0.0.0 - Generates planner metrics and analyze the results - Joshua Wallace - Apache-2.0 - - python-enum34 - rclpy - geometry_msgs - nav2_msgs - action_msgs - lifecycle_msgs - - ament_copyright - ament_flake8 - ament_pep257 - python3-pytest - - - ament_python - - diff --git a/nav2_planner_metrics/resource/nav2_planner_metrics b/nav2_planner_metrics/resource/nav2_planner_metrics deleted file mode 100644 index e69de29bb2d..00000000000 diff --git a/nav2_planner_metrics/setup.cfg b/nav2_planner_metrics/setup.cfg deleted file mode 100644 index cfb46bf4e41..00000000000 --- a/nav2_planner_metrics/setup.cfg +++ /dev/null @@ -1,4 +0,0 @@ -[develop] -script_dir=$base/lib/nav2_planner_metrics -[install] -install_scripts=$base/lib/nav2_planner_metrics diff --git a/nav2_planner_metrics/setup.py b/nav2_planner_metrics/setup.py deleted file mode 100644 index f01c74954c5..00000000000 --- a/nav2_planner_metrics/setup.py +++ /dev/null @@ -1,27 +0,0 @@ -from setuptools import setup - -package_name = 'nav2_planner_metrics' - -setup( - name=package_name, - version='0.0.0', - packages=[package_name], - data_files=[ - ('share/ament_index/resource_index/packages', - ['resource/' + package_name]), - ('share/' + package_name, ['package.xml']), - ], - install_requires=['setuptools'], - zip_safe=True, - maintainer='josh', - maintainer_email='josho.wallace@gmail.com', - description='TODO: Package description', - license='TODO: License declaration', - tests_require=['pytest'], - entry_points={ - 'console_scripts': [ - 'metrics = nav2_planner_metrics.metrics:main', - 'post_process = nav2_planner_metrics.process_data:main' - ], - }, -) diff --git a/nav2_planner_metrics/test/test_copyright.py b/nav2_planner_metrics/test/test_copyright.py deleted file mode 100644 index 97a39196e84..00000000000 --- a/nav2_planner_metrics/test/test_copyright.py +++ /dev/null @@ -1,25 +0,0 @@ -# Copyright 2015 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_copyright.main import main -import pytest - - -# Remove the `skip` decorator once the source file(s) have a copyright header -@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.') -@pytest.mark.copyright -@pytest.mark.linter -def test_copyright(): - rc = main(argv=['.', 'test']) - assert rc == 0, 'Found errors' diff --git a/nav2_planner_metrics/test/test_flake8.py b/nav2_planner_metrics/test/test_flake8.py deleted file mode 100644 index 27ee1078ff0..00000000000 --- a/nav2_planner_metrics/test/test_flake8.py +++ /dev/null @@ -1,25 +0,0 @@ -# Copyright 2017 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_flake8.main import main_with_errors -import pytest - - -@pytest.mark.flake8 -@pytest.mark.linter -def test_flake8(): - rc, errors = main_with_errors(argv=[]) - assert rc == 0, \ - 'Found %d code style errors / warnings:\n' % len(errors) + \ - '\n'.join(errors) diff --git a/nav2_planner_metrics/test/test_pep257.py b/nav2_planner_metrics/test/test_pep257.py deleted file mode 100644 index b234a3840f4..00000000000 --- a/nav2_planner_metrics/test/test_pep257.py +++ /dev/null @@ -1,23 +0,0 @@ -# Copyright 2015 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_pep257.main import main -import pytest - - -@pytest.mark.linter -@pytest.mark.pep257 -def test_pep257(): - rc = main(argv=['.', 'test']) - assert rc == 0, 'Found code style errors / warnings' diff --git a/nav2_planner_metrics/nav2_planner_metrics/metrics.py b/tools/metrics.py similarity index 100% rename from nav2_planner_metrics/nav2_planner_metrics/metrics.py rename to tools/metrics.py diff --git a/nav2_planner_metrics/nav2_planner_metrics/process_data.py b/tools/process_data.py similarity index 100% rename from nav2_planner_metrics/nav2_planner_metrics/process_data.py rename to tools/process_data.py From efa244059e182a5d0e2bda47a63c530cd8b52e05 Mon Sep 17 00:00:00 2001 From: Joshua Wallace Date: Thu, 3 Mar 2022 17:46:11 -0500 Subject: [PATCH 13/14] addede more planners --- tools/metrics.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/metrics.py b/tools/metrics.py index 685a2ec60b7..3865b0bbdbe 100644 --- a/tools/metrics.py +++ b/tools/metrics.py @@ -116,7 +116,7 @@ def main(): costmap = np.asarray(costmap_msg.data) costmap.resize(costmap_msg.metadata.size_y, costmap_msg.metadata.size_x) - planners = ['NavFn'] + planners = ['NavFn', 'Smac2d', 'SmacLattice', 'SmacHybrid'] max_cost = 210 side_buffer = 100 time_stamp = navigator.get_clock().now().to_msg() From 646244be42190ce73b1b626d3f6fcd67597c7a5c Mon Sep 17 00:00:00 2001 From: Joshua Wallace Date: Tue, 8 Mar 2022 14:00:41 -0500 Subject: [PATCH 14/14] planner benchmarking --- tools/planner_benchmarking/100by100_10.pgm | Bin 0 -> 4000017 bytes tools/planner_benchmarking/100by100_15.pgm | Bin 0 -> 4000017 bytes tools/planner_benchmarking/100by100_20.pgm | Bin 0 -> 4000017 bytes tools/{ => planner_benchmarking}/metrics.py | 0 .../process_data.py | 0 5 files changed, 0 insertions(+), 0 deletions(-) create mode 100644 tools/planner_benchmarking/100by100_10.pgm create mode 100644 tools/planner_benchmarking/100by100_15.pgm create 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a/tools/process_data.py b/tools/planner_benchmarking/process_data.py similarity index 100% rename from tools/process_data.py rename to tools/planner_benchmarking/process_data.py