feat(smoother):Add footprint collision checking to SimpleSmoother #5462
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Signed-off-by: CPPavithra <[email protected]>
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@CPPavithra check out the CI build issues on linting / system build. Your solution does not compile. |
SteveMacenski
requested changes
Aug 19, 2025
| @@ -94,6 +95,7 @@ class SimpleSmoother : public nav2_core::Smoother | |||
| * @param costmap Pointer to minimal costmap | |||
| * @param max_time Maximum time to compute, stop early if over limit | |||
| */ | |||
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| @@ -124,6 +126,9 @@ class SimpleSmoother : public nav2_core::Smoother | |||
| int max_its_, refinement_ctr_, refinement_num_; | |||
| bool do_refinement_, enforce_path_inversion_; | |||
| std::shared_ptr<nav2_costmap_2d::CostmapSubscriber> costmap_sub_; | |||
| //member variables added to store foorprint sub and collision checker | |||
| auto node = parent.lock(); | ||
| logger_ = node->get_logger(); | ||
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| declare_parameter_if_not_declared( |
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Why the reorganization? Revert to only the line changes required for the feature addition please.
| @@ -126,6 +138,7 @@ void SimpleSmoother::smoothImpl( | |||
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| nav_msgs::msg::Path new_path = path; | |||
| nav_msgs::msg::Path last_path = path; | |||
| const nav_msgs::msg::Path original_path = path; //new var | |||
| @@ -199,6 +212,30 @@ void SimpleSmoother::smoothImpl( | |||
| } | |||
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| updateApproximatePathOrientations(new_path, reversing_segment); | |||
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| /* *********************************************************************** | |||
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Why these blocks? Remove?
| ************** START: NEW FOOTPRINT COLLISION CHECKING ***************** | ||
| ************************************************************************/ | ||
| //After smoothing,we perform a full footprint collision check on the result. | ||
| for (const auto & pose : new_path.poses) { |
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I think the collision checking should be modifying the block in the while loop so we can exit out in the first iteration that becomes invalid. That way, we can smooth as much as possible before causing collision (as we do now).
If you updateApproximatePathOrientations proactively before checking collision, you can use the footprint checker in the while loop.
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Basic Info
Description of contribution in a few bullet points
SimpleSmoother.Description of documentation updates required from your changes
No documentation changes are required. This PR is a bug fix that improves the safety and correctness of the smoother without adding new user-facing parameters or behaviors that need configuration.
Description of how this change was tested
nav2_smootherpackage.colcon test.Future work that may be required in bullet points
For Maintainers: - [ ] Check that any new parameters added are updated in docs.nav2.org
backport-*.