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Use the new parameter API in nav2_constrained_smoother. #5608

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Merged
SteveMacenski merged 1 commit into from
Oct 14, 2025
Merged

Use the new parameter API in nav2_constrained_smoother. #5608

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86 changes: 27 additions & 59 deletions nav2_constrained_smoother/include/nav2_constrained_smoother/options.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -49,34 +49,19 @@ struct SmootherParams
std::string local_name = name + std::string(".");

// Smoother params
double minimum_turning_radius;
nav2::declare_parameter_if_not_declared(
node, name + ".minimum_turning_radius", rclcpp::ParameterValue(0.4));
node->get_parameter(name + ".minimum_turning_radius", minimum_turning_radius);
double minimum_turning_radius = node->declare_or_get_parameter(
name + ".minimum_turning_radius", 0.4);
max_curvature = 1.0f / minimum_turning_radius;
nav2::declare_parameter_if_not_declared(
node, local_name + "w_curve", rclcpp::ParameterValue(30.0));
node->get_parameter(local_name + "w_curve", curvature_weight);
nav2::declare_parameter_if_not_declared(
node, local_name + "w_cost", rclcpp::ParameterValue(0.015));
node->get_parameter(local_name + "w_cost", costmap_weight);
double cost_cusp_multiplier;
nav2::declare_parameter_if_not_declared(
node, local_name + "w_cost_cusp_multiplier", rclcpp::ParameterValue(3.0));
node->get_parameter(local_name + "w_cost_cusp_multiplier", cost_cusp_multiplier);
curvature_weight = node->declare_or_get_parameter(local_name + "w_curve", 30.0);
costmap_weight = node->declare_or_get_parameter(local_name + "w_cost", 0.015);
double cost_cusp_multiplier = node->declare_or_get_parameter(
local_name + "w_cost_cusp_multiplier", 3.0);
cusp_costmap_weight = costmap_weight * cost_cusp_multiplier;
nav2::declare_parameter_if_not_declared(
node, local_name + "cusp_zone_length", rclcpp::ParameterValue(2.5));
node->get_parameter(local_name + "cusp_zone_length", cusp_zone_length);
nav2::declare_parameter_if_not_declared(
node, local_name + "w_dist", rclcpp::ParameterValue(0.0));
node->get_parameter(local_name + "w_dist", distance_weight);
nav2::declare_parameter_if_not_declared(
node, local_name + "w_smooth", rclcpp::ParameterValue(2000000.0));
node->get_parameter(local_name + "w_smooth", smooth_weight);
nav2::declare_parameter_if_not_declared(
node, local_name + "cost_check_points", rclcpp::ParameterValue(std::vector<double>()));
node->get_parameter(local_name + "cost_check_points", cost_check_points);
cusp_zone_length = node->declare_or_get_parameter(local_name + "cusp_zone_length", 2.5);
distance_weight = node->declare_or_get_parameter(local_name + "w_dist", 0.0);
smooth_weight = node->declare_or_get_parameter(local_name + "w_smooth", 2000000.0);
cost_check_points = node->declare_or_get_parameter(
local_name + "cost_check_points", std::vector<double>());
if (cost_check_points.size() % 3 != 0) {
RCLCPP_ERROR(
rclcpp::get_logger(
Expand All @@ -93,21 +78,15 @@ struct SmootherParams
for (size_t i = 2u; i < cost_check_points.size(); i += 3) {
cost_check_points[i] /= check_point_weights_sum;
}
nav2::declare_parameter_if_not_declared(
node, local_name + "path_downsampling_factor", rclcpp::ParameterValue(1));
node->get_parameter(local_name + "path_downsampling_factor", path_downsampling_factor);
nav2::declare_parameter_if_not_declared(
node, local_name + "path_upsampling_factor", rclcpp::ParameterValue(1));
node->get_parameter(local_name + "path_upsampling_factor", path_upsampling_factor);
nav2::declare_parameter_if_not_declared(
node, local_name + "reversing_enabled", rclcpp::ParameterValue(true));
node->get_parameter(local_name + "reversing_enabled", reversing_enabled);
nav2::declare_parameter_if_not_declared(
node, local_name + "keep_goal_orientation", rclcpp::ParameterValue(true));
node->get_parameter(local_name + "keep_goal_orientation", keep_goal_orientation);
nav2::declare_parameter_if_not_declared(
node, local_name + "keep_start_orientation", rclcpp::ParameterValue(true));
node->get_parameter(local_name + "keep_start_orientation", keep_start_orientation);
path_downsampling_factor = node->declare_or_get_parameter(
local_name + "path_downsampling_factor", 1);
path_upsampling_factor = node->declare_or_get_parameter(
local_name + "path_upsampling_factor", 1);
reversing_enabled = node->declare_or_get_parameter(local_name + "reversing_enabled", true);
keep_goal_orientation = node->declare_or_get_parameter(
local_name + "keep_goal_orientation", true);
keep_start_orientation = node->declare_or_get_parameter(
local_name + "keep_start_orientation", true);
}

double smooth_weight{0.0};
Expand Down Expand Up @@ -151,9 +130,8 @@ struct OptimizerParams
std::string local_name = name + std::string(".optimizer.");

// Optimizer params
nav2::declare_parameter_if_not_declared(
node, local_name + "linear_solver_type", rclcpp::ParameterValue("SPARSE_NORMAL_CHOLESKY"));
node->get_parameter(local_name + "linear_solver_type", linear_solver_type);
linear_solver_type = node->declare_or_get_parameter(
local_name + "linear_solver_type", std::string("SPARSE_NORMAL_CHOLESKY"));
if (solver_types.find(linear_solver_type) == solver_types.end()) {
std::stringstream valid_types_str;
for (auto type = solver_types.begin(); type != solver_types.end(); type++) {
Expand All @@ -167,21 +145,11 @@ struct OptimizerParams
"Invalid linear_solver_type. Valid values are %s", valid_types_str.str().c_str());
throw std::runtime_error("Invalid parameter: linear_solver_type");
}
nav2::declare_parameter_if_not_declared(
node, local_name + "param_tol", rclcpp::ParameterValue(1e-15));
node->get_parameter(local_name + "param_tol", param_tol);
nav2::declare_parameter_if_not_declared(
node, local_name + "fn_tol", rclcpp::ParameterValue(1e-7));
node->get_parameter(local_name + "fn_tol", fn_tol);
nav2::declare_parameter_if_not_declared(
node, local_name + "gradient_tol", rclcpp::ParameterValue(1e-10));
node->get_parameter(local_name + "gradient_tol", gradient_tol);
nav2::declare_parameter_if_not_declared(
node, local_name + "max_iterations", rclcpp::ParameterValue(100));
node->get_parameter(local_name + "max_iterations", max_iterations);
nav2::declare_parameter_if_not_declared(
node, local_name + "debug_optimizer", rclcpp::ParameterValue(false));
node->get_parameter(local_name + "debug_optimizer", debug);
param_tol = node->declare_or_get_parameter(local_name + "param_tol", 1e-15);
fn_tol = node->declare_or_get_parameter(local_name + "fn_tol", 1e-7);
gradient_tol = node->declare_or_get_parameter(local_name + "gradient_tol", 1e-10);
max_iterations = node->declare_or_get_parameter(local_name + "max_iterations", 100);
debug = node->declare_or_get_parameter(local_name + "debug_optimizer", false);
}

const std::map<std::string, ceres::LinearSolverType> solver_types = {
Expand Down
1 change: 0 additions & 1 deletion nav2_constrained_smoother/src/constrained_smoother.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,6 @@

#include "tf2/utils.hpp"

using nav2::declare_parameter_if_not_declared;
using nav2_util::geometry_utils::euclidean_distance;
using namespace nav2_costmap_2d; // NOLINT

Expand Down
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