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Merged
SteveMacenski merged 1 commit into from
Mar 17, 2025
Merged

Change to goal checker orientation for yaw angle #4988

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2 changes: 1 addition & 1 deletion nav2_controller/plugins/simple_goal_checker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -114,7 +114,7 @@ bool SimpleGoalChecker::isGoalReached(
double dyaw = angles::shortest_angular_distance(
tf2::getYaw(query_pose.orientation),
tf2::getYaw(goal_pose.orientation));
return fabs(dyaw) < yaw_goal_tolerance_;
return fabs(dyaw) <= yaw_goal_tolerance_;
}

bool SimpleGoalChecker::getTolerances(
Expand Down
103 changes: 103 additions & 0 deletions nav2_controller/plugins/test/goal_checker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -40,6 +40,7 @@
#include "nav2_controller/plugins/stopped_goal_checker.hpp"
#include "nav_2d_utils/conversions.hpp"
#include "nav2_util/lifecycle_node.hpp"
#include "eigen3/Eigen/Geometry"

using nav2_controller::SimpleGoalChecker;
using nav2_controller::StoppedGoalChecker;
Expand Down Expand Up @@ -237,6 +238,108 @@ TEST(StoppedGoalChecker, get_tol_and_dynamic_params)
EXPECT_EQ(pose_tol.position.y, 200.0);
}

TEST(StoppedGoalChecker, is_reached)
{
auto x = std::make_shared<TestLifecycleNode>("goal_checker");

SimpleGoalChecker gc;
StoppedGoalChecker sgc;
auto costmap = std::make_shared<nav2_costmap_2d::Costmap2DROS>("test_costmap");

sgc.initialize(x, "test", costmap);
gc.initialize(x, "test2", costmap);
geometry_msgs::msg::Pose goal_pose;
geometry_msgs::msg::Twist velocity;
geometry_msgs::msg::Pose current_pose;

// Current linear x position is tolerance away from goal
current_pose.position.x = 0.25;
velocity.linear.x = 0.25;
EXPECT_TRUE(sgc.isGoalReached(current_pose, goal_pose, velocity));
EXPECT_TRUE(gc.isGoalReached(current_pose, goal_pose, velocity));
sgc.reset();
gc.reset();

// Current linear x speed exceeds tolerance
velocity.linear.x = 0.25 + std::numeric_limits<double>::epsilon();
EXPECT_FALSE(sgc.isGoalReached(current_pose, goal_pose, velocity));
EXPECT_TRUE(gc.isGoalReached(current_pose, goal_pose, velocity));
sgc.reset();
gc.reset();

// Current linear x position is further than tolerance away from goal
current_pose.position.x = 0.25 + std::numeric_limits<double>::epsilon();
velocity.linear.x = 0.25;
EXPECT_FALSE(sgc.isGoalReached(current_pose, goal_pose, velocity));
EXPECT_FALSE(gc.isGoalReached(current_pose, goal_pose, velocity));
sgc.reset();
gc.reset();
current_pose.position.x = 0.0;
velocity.linear.x = 0.0;

// Current linear position is tolerance away from goal
current_pose.position.x = 0.25 / std::sqrt(2);
current_pose.position.y = 0.25 / std::sqrt(2);
velocity.linear.x = 0.25 / std::sqrt(2);
velocity.linear.y = 0.25 / std::sqrt(2);
EXPECT_TRUE(sgc.isGoalReached(current_pose, goal_pose, velocity));
EXPECT_TRUE(gc.isGoalReached(current_pose, goal_pose, velocity));
sgc.reset();
gc.reset();

// Current linear speed exceeds tolerance
velocity.linear.x = 0.25 / std::sqrt(2) + std::numeric_limits<double>::epsilon();
velocity.linear.y = 0.25 / std::sqrt(2) + std::numeric_limits<double>::epsilon();
EXPECT_FALSE(sgc.isGoalReached(current_pose, goal_pose, velocity));
EXPECT_TRUE(gc.isGoalReached(current_pose, goal_pose, velocity));
sgc.reset();
gc.reset();

// Current linear position is further than tolerance away from goal
current_pose.position.x = 0.25 / std::sqrt(2) + std::numeric_limits<double>::epsilon();
current_pose.position.y = 0.25 / std::sqrt(2) + std::numeric_limits<double>::epsilon();
velocity.linear.x = 0.25 / std::sqrt(2);
velocity.linear.y = 0.25 / std::sqrt(2);
EXPECT_FALSE(sgc.isGoalReached(current_pose, goal_pose, velocity));
EXPECT_FALSE(gc.isGoalReached(current_pose, goal_pose, velocity));
sgc.reset();
gc.reset();

current_pose.position.x = 0.0;
velocity.linear.x = 0.0;


// Current angular position is tolerance away from goal
auto quat =
(Eigen::AngleAxisd::Identity() * Eigen::AngleAxisd(0.25, Eigen::Vector3d::UnitZ())).coeffs();
// epsilon for orientation is a lot bigger than double limit, probably from TF getYaw
auto quat_epsilon =
(Eigen::AngleAxisd::Identity() *
Eigen::AngleAxisd(0.25 + 1.0E-15, Eigen::Vector3d::UnitZ())).coeffs();

current_pose.orientation.z = quat[2];
current_pose.orientation.w = quat[3];
velocity.angular.z = 0.25;
EXPECT_TRUE(sgc.isGoalReached(current_pose, goal_pose, velocity));
EXPECT_TRUE(gc.isGoalReached(current_pose, goal_pose, velocity));
sgc.reset();
gc.reset();

// Current angular speed exceeds tolerance
velocity.angular.z = 0.25 + std::numeric_limits<double>::epsilon();
EXPECT_FALSE(sgc.isGoalReached(current_pose, goal_pose, velocity));
EXPECT_TRUE(gc.isGoalReached(current_pose, goal_pose, velocity));
sgc.reset();
gc.reset();

// Current angular position is further than tolerance away from goal
current_pose.orientation.z = quat_epsilon[2];
current_pose.orientation.w = quat_epsilon[3];
velocity.angular.z = 0.25;
EXPECT_FALSE(sgc.isGoalReached(current_pose, goal_pose, velocity));
EXPECT_FALSE(gc.isGoalReached(current_pose, goal_pose, velocity));
}

int main(int argc, char ** argv)
{
::testing::InitGoogleTest(&argc, argv);
Expand Down
131 changes: 93 additions & 38 deletions nav2_controller/plugins/test/progress_checker.cpp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -84,12 +84,11 @@ class TestLifecycleNode : public nav2_util::LifecycleNode
}
};

void checkMacro(
bool checkMacro(
nav2_core::ProgressChecker & pc,
double x0, double y0, double theta0,
double x1, double y1, double theta1,
int delay,
bool expected_result)
int delay)
{
pc.reset();
geometry_msgs::msg::PoseStamped pose0, pose1;
Expand All @@ -101,11 +100,7 @@ void checkMacro(
pose1.pose.orientation = nav2_util::geometry_utils::orientationAroundZAxis(theta1);
EXPECT_TRUE(pc.check(pose0));
rclcpp::sleep_for(std::chrono::milliseconds(delay));
if (expected_result) {
EXPECT_TRUE(pc.check(pose1));
} else {
EXPECT_FALSE(pc.check(pose1));
}
return pc.check(pose1);
}

TEST(SimpleProgressChecker, progress_checker_reset)
Expand All @@ -125,7 +120,7 @@ TEST(SimpleProgressChecker, unit_tests)
SimpleProgressChecker pc;
pc.initialize(x, "nav2_controller");

double time_allowance = 0.5;
double time_allowance = 0.1;
int half_time_allowance_ms = static_cast<int>(time_allowance * 0.5 * 1000);
int twice_time_allowance_ms = static_cast<int>(time_allowance * 2.0 * 1000);

Expand All @@ -147,23 +142,83 @@ TEST(SimpleProgressChecker, unit_tests)

// BELOW time allowance (set to time_allowance)
// no movement
checkMacro(pc, 0, 0, 0, 0, 0, 0, half_time_allowance_ms, true);
EXPECT_TRUE(checkMacro(pc, 0, 0, 0, 0, 0, 0, half_time_allowance_ms));
// translation below required_movement_radius (default 0.5)
checkMacro(pc, 0, 0, 0, 0.25, 0, 0, half_time_allowance_ms, true);
checkMacro(pc, 0, 0, 0, 0, 0.25, 0, half_time_allowance_ms, true);
EXPECT_TRUE(checkMacro(pc, 0, 0, 0, 0.25, 0, 0, half_time_allowance_ms));
EXPECT_TRUE(checkMacro(pc, 0, 0, 0, 0, 0.25, 0, half_time_allowance_ms));
// translation above required_movement_radius (default 0.5)
checkMacro(pc, 0, 0, 0, 1, 0, 0, half_time_allowance_ms, true);
checkMacro(pc, 0, 0, 0, 0, 1, 0, half_time_allowance_ms, true);
EXPECT_TRUE(checkMacro(pc, 0, 0, 0, 1, 0, 0, half_time_allowance_ms));
EXPECT_TRUE(checkMacro(pc, 0, 0, 0, 0, 1, 0, half_time_allowance_ms));

// ABOVE time allowance (set to time_allowance)
// no movement
checkMacro(pc, 0, 0, 0, 0, 0, 0, twice_time_allowance_ms, false);
EXPECT_FALSE(checkMacro(pc, 0, 0, 0, 0, 0, 0, twice_time_allowance_ms));
// translation below required_movement_radius (default 0.5)
checkMacro(pc, 0, 0, 0, 0.25, 0, 0, twice_time_allowance_ms, false);
checkMacro(pc, 0, 0, 0, 0, 0.25, 0, twice_time_allowance_ms, false);
EXPECT_FALSE(checkMacro(pc, 0, 0, 0, 0.25, 0, 0, twice_time_allowance_ms));
EXPECT_FALSE(checkMacro(pc, 0, 0, 0, 0, 0.25, 0, twice_time_allowance_ms));
// translation above required_movement_radius (default 0.5)
checkMacro(pc, 0, 0, 0, 1, 0, 0, twice_time_allowance_ms, true);
checkMacro(pc, 0, 0, 0, 0, 1, 0, twice_time_allowance_ms, true);
EXPECT_TRUE(checkMacro(pc, 0, 0, 0, 1, 0, 0, twice_time_allowance_ms));
EXPECT_TRUE(checkMacro(pc, 0, 0, 0, 0, 1, 0, twice_time_allowance_ms));
}

TEST(SimpleProgressChecker, required_movement_radius) {
auto lifecycle_node = std::make_shared<TestLifecycleNode>("progress_checker");

SimpleProgressChecker progress_checker;
progress_checker.initialize(lifecycle_node, "nav2_controller");

auto parameters_client = std::make_shared<rclcpp::AsyncParametersClient>(
lifecycle_node->get_node_base_interface(), lifecycle_node->get_node_topics_interface(),
lifecycle_node->get_node_graph_interface(),
lifecycle_node->get_node_services_interface());

constexpr double radius = 0.25;
constexpr double time_allowance = 0.05;
constexpr double twice_time_allowance_ms = time_allowance * 2.0 * 1000;
auto results = parameters_client->set_parameters_atomically(
{rclcpp::Parameter("nav2_controller.required_movement_radius", radius),
rclcpp::Parameter("nav2_controller.movement_time_allowance", time_allowance)});
rclcpp::spin_until_future_complete(
lifecycle_node->get_node_base_interface(),
results);

EXPECT_EQ(
lifecycle_node->get_parameter("nav2_controller.required_movement_radius").as_double(),
radius);

// ABOVE time allowance (set to time_allowance)
// no movement
EXPECT_FALSE(checkMacro(progress_checker, 0, 0, 0, 0, 0, 0, twice_time_allowance_ms));
// translation at required_movement_radius one axis
EXPECT_FALSE(checkMacro(progress_checker, 0, 0, 0, radius, 0, 0, twice_time_allowance_ms));
EXPECT_FALSE(checkMacro(progress_checker, 0, 0, 0, 0, radius, 0, twice_time_allowance_ms));
constexpr auto axis = radius / std::sqrt(2);
EXPECT_FALSE(checkMacro(progress_checker, 0, 0, 0, axis, axis, 0, twice_time_allowance_ms));
// translation at required_movement_radius both axes

// translation above required_movement_radius one axis
constexpr auto above = radius + std::numeric_limits<double>::epsilon();
EXPECT_TRUE(checkMacro(progress_checker, 0, 0, 0, above, 0, 0, twice_time_allowance_ms));
EXPECT_TRUE(checkMacro(progress_checker, 0, 0, 0, 0, above, 0, twice_time_allowance_ms));
// translation at required_movement_radius both axes
constexpr auto above_axis = axis + std::numeric_limits<double>::epsilon();
EXPECT_TRUE(
checkMacro(progress_checker, 0, 0, 0, above_axis, above_axis, 0, twice_time_allowance_ms));

// Edge case, negative radius always true
results = parameters_client->set_parameters_atomically(
{rclcpp::Parameter("nav2_controller.required_movement_radius", -radius)});
rclcpp::spin_until_future_complete(
lifecycle_node->get_node_base_interface(),
results);
EXPECT_EQ(
lifecycle_node->get_parameter("nav2_controller.required_movement_radius").as_double(),
-radius);
EXPECT_TRUE(checkMacro(progress_checker, 0, 0, 0, 0, 0, 0, twice_time_allowance_ms));
// translation at required_movement_radius one axis
EXPECT_TRUE(checkMacro(progress_checker, 0, 0, 0, radius, 0, 0, twice_time_allowance_ms));
EXPECT_TRUE(checkMacro(progress_checker, 0, 0, 0, 0, radius, 0, twice_time_allowance_ms));
EXPECT_TRUE(checkMacro(progress_checker, 0, 0, 0, axis, axis, 0, twice_time_allowance_ms));
}

TEST(PoseProgressChecker, pose_progress_checker_reset)
Expand All @@ -183,7 +238,7 @@ TEST(PoseProgressChecker, unit_tests)
PoseProgressChecker rpc;
rpc.initialize(x, "nav2_controller");

double time_allowance = 0.5;
double time_allowance = 0.1;
int half_time_allowance_ms = static_cast<int>(time_allowance * 0.5 * 1000);
int twice_time_allowance_ms = static_cast<int>(time_allowance * 2.0 * 1000);

Expand All @@ -205,35 +260,35 @@ TEST(PoseProgressChecker, unit_tests)

// BELOW time allowance (set to time_allowance)
// no movement
checkMacro(rpc, 0, 0, 0, 0, 0, 0, half_time_allowance_ms, true);
EXPECT_TRUE(checkMacro(rpc, 0, 0, 0, 0, 0, 0, half_time_allowance_ms));
// translation below required_movement_radius (default 0.5)
checkMacro(rpc, 0, 0, 0, 0.25, 0, 0, half_time_allowance_ms, true);
checkMacro(rpc, 0, 0, 0, 0, 0.25, 0, half_time_allowance_ms, true);
EXPECT_TRUE(checkMacro(rpc, 0, 0, 0, 0.25, 0, 0, half_time_allowance_ms));
EXPECT_TRUE(checkMacro(rpc, 0, 0, 0, 0, 0.25, 0, half_time_allowance_ms));
// rotation below required_movement_angle (default 0.5)
checkMacro(rpc, 0, 0, 0, 0, 0, 0.25, half_time_allowance_ms, true);
checkMacro(rpc, 0, 0, 0, 0, 0, -0.25, half_time_allowance_ms, true);
EXPECT_TRUE(checkMacro(rpc, 0, 0, 0, 0, 0, 0.25, half_time_allowance_ms));
EXPECT_TRUE(checkMacro(rpc, 0, 0, 0, 0, 0, -0.25, half_time_allowance_ms));
// translation above required_movement_radius (default 0.5)
checkMacro(rpc, 0, 0, 0, 1, 0, 0, half_time_allowance_ms, true);
checkMacro(rpc, 0, 0, 0, 0, 1, 0, half_time_allowance_ms, true);
EXPECT_TRUE(checkMacro(rpc, 0, 0, 0, 1, 0, 0, half_time_allowance_ms));
EXPECT_TRUE(checkMacro(rpc, 0, 0, 0, 0, 1, 0, half_time_allowance_ms));
// rotation above required_movement_angle (default 0.5)
checkMacro(rpc, 0, 0, 0, 0, 0, 1, half_time_allowance_ms, true);
checkMacro(rpc, 0, 0, 0, 0, 0, -1, half_time_allowance_ms, true);
EXPECT_TRUE(checkMacro(rpc, 0, 0, 0, 0, 0, 1, half_time_allowance_ms));
EXPECT_TRUE(checkMacro(rpc, 0, 0, 0, 0, 0, -1, half_time_allowance_ms));

// ABOVE time allowance (set to time_allowance)
// no movement
checkMacro(rpc, 0, 0, 0, 0, 0, 0, twice_time_allowance_ms, false);
EXPECT_FALSE(checkMacro(rpc, 0, 0, 0, 0, 0, 0, twice_time_allowance_ms));
// translation below required_movement_radius (default 0.5)
checkMacro(rpc, 0, 0, 0, 0.25, 0, 0, twice_time_allowance_ms, false);
checkMacro(rpc, 0, 0, 0, 0, 0.25, 0, twice_time_allowance_ms, false);
EXPECT_FALSE(checkMacro(rpc, 0, 0, 0, 0.25, 0, 0, twice_time_allowance_ms));
EXPECT_FALSE(checkMacro(rpc, 0, 0, 0, 0, 0.25, 0, twice_time_allowance_ms));
// rotation below required_movement_angle (default 0.5)
checkMacro(rpc, 0, 0, 0, 0, 0, 0.25, twice_time_allowance_ms, false);
checkMacro(rpc, 0, 0, 0, 0, 0, -0.25, twice_time_allowance_ms, false);
EXPECT_FALSE(checkMacro(rpc, 0, 0, 0, 0, 0, 0.25, twice_time_allowance_ms));
EXPECT_FALSE(checkMacro(rpc, 0, 0, 0, 0, 0, -0.25, twice_time_allowance_ms));
// translation above required_movement_radius (default 0.5)
checkMacro(rpc, 0, 0, 0, 1, 0, 0, twice_time_allowance_ms, true);
checkMacro(rpc, 0, 0, 0, 0, 1, 0, twice_time_allowance_ms, true);
EXPECT_TRUE(checkMacro(rpc, 0, 0, 0, 1, 0, 0, twice_time_allowance_ms));
EXPECT_TRUE(checkMacro(rpc, 0, 0, 0, 0, 1, 0, twice_time_allowance_ms));
// rotation above required_movement_angle (default 0.5)
checkMacro(rpc, 0, 0, 0, 0, 0, 1, twice_time_allowance_ms, true);
checkMacro(rpc, 0, 0, 0, 0, 0, -1, twice_time_allowance_ms, true);
EXPECT_TRUE(checkMacro(rpc, 0, 0, 0, 0, 0, 1, twice_time_allowance_ms));
EXPECT_TRUE(checkMacro(rpc, 0, 0, 0, 0, 0, -1, twice_time_allowance_ms));
}

int main(int argc, char ** argv)
Expand Down
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