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Fix trajectory generation bug in docking controller #4807

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Merged
merged 4 commits into from
Dec 20, 2024
Merged

Fix trajectory generation bug in docking controller #4807

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c3c477d
Fix trajectory in docking controller
ajtudela Dec 19, 2024
0932c24
Ceil and remove resolution
ajtudela Dec 20, 2024
08b6bf2
Update nav2_docking/opennav_docking/src/controller.cpp
ajtudela Dec 20, 2024
ce76fc4
Update nav2_docking/opennav_docking/src/controller.cpp
ajtudela Dec 20, 2024
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10 changes: 8 additions & 2 deletions nav2_docking/opennav_docking/src/controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -144,7 +144,10 @@ bool Controller::isTrajectoryCollisionFree(
}

// Generate path
for (double t = 0; t < projection_time_; t += simulation_time_step_) {
double distance = std::numeric_limits<double>::max();
unsigned int max_iter = static_cast<unsigned int>(ceil(projection_time_ / simulation_time_step_));

do{
// Apply velocities to calculate next pose
next_pose.pose = control_law_->calculateNextPose(
simulation_time_step_, target_pose, next_pose.pose, backward);
Expand Down Expand Up @@ -177,7 +180,10 @@ bool Controller::isTrajectoryCollisionFree(
trajectory_pub_->publish(trajectory);
return false;
}
}

// Check if we reach the goal
distance = nav2_util::geometry_utils::euclidean_distance(target_pose, next_pose.pose);
}while(distance > 1e-2 && trajectory.poses.size() < max_iter);

trajectory_pub_->publish(trajectory);

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