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feat(smoother):Add footprint collision checking to SimpleSmoother #5462

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feat(smoother):Add footprint collision checking to SimpleSmoother #5462

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5 changes: 5 additions & 0 deletions nav2_smoother/include/nav2_smoother/simple_smoother.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,7 @@
#include "nav2_smoother/smoother_utils.hpp"
#include "nav2_costmap_2d/costmap_2d.hpp"
#include "nav2_costmap_2d/cost_values.hpp"
#include "nav2_costmap_2d/collision_checker.hpp"
#include "nav2_util/geometry_utils.hpp"
#include "nav2_ros_common/node_utils.hpp"
#include "nav_msgs/msg/path.hpp"
Expand Down Expand Up @@ -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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Remove extra space

void smoothImpl(
nav_msgs::msg::Path & path,
bool & reversing_segment,
Expand Down Expand Up @@ -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
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std::shared_ptr<nav2_costmap_2d::FootprintSubscriber> footprint_sub_;
std::shared_ptr<nav2_costmap_2d::CollisionChecker> collision_checker_;
rclcpp::Logger logger_{rclcpp::get_logger("SimpleSmoother")};
};

Expand Down
71 changes: 54 additions & 17 deletions nav2_smoother/src/simple_smoother.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -28,34 +28,46 @@ void SimpleSmoother::configure(
const nav2::LifecycleNode::WeakPtr & parent,
std::string name, std::shared_ptr<tf2_ros::Buffer>/*tf*/,
std::shared_ptr<nav2_costmap_2d::CostmapSubscriber> costmap_sub,
std::shared_ptr<nav2_costmap_2d::FootprintSubscriber>/*footprint_sub*/)
std::shared_ptr<nav2_costmap_2d::FootprintSubscriber> footprint_sub)
{
costmap_sub_ = costmap_sub;

auto node = parent.lock();
logger_ = node->get_logger();

declare_parameter_if_not_declared(
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Why the reorganization? Revert to only the line changes required for the feature addition please.

node, name + ".tolerance", rclcpp::ParameterValue(1e-10));
declare_parameter_if_not_declared(
node, name + ".max_its", rclcpp::ParameterValue(1000));
declare_parameter_if_not_declared(
node, name + ".w_data", rclcpp::ParameterValue(0.2));
declare_parameter_if_not_declared(
node, name + ".w_smooth", rclcpp::ParameterValue(0.3));
declare_parameter_if_not_declared(
node, name + ".do_refinement", rclcpp::ParameterValue(true));
declare_parameter_if_not_declared(
node, name + ".refinement_num", rclcpp::ParameterValue(2));
declare_parameter_if_not_declared(
node, name + ".enforce_path_inversion", rclcpp::ParameterValue(true));
// Store subscribers
costmap_sub_ = costmap_sub;
footprint_sub_ = footprint_sub;

// Initialize the collision checker
collision_checker_ = std::make_shared<nav2_costmap_2d::CollisionChecker>(
costmap_sub_, footprint_sub_, node->get_node_topics_interface());

// Get parameters
nav2::declare_parameter_if_not_declared(
node, name + ".tolerance", rclcpp::ParameterValue(1e-10));
node->get_parameter(name + ".tolerance", tolerance_);

nav2::declare_parameter_if_not_declared(
node, name + ".max_its", rclcpp::ParameterValue(1000));
node->get_parameter(name + ".max_its", max_its_);

nav2::declare_parameter_if_not_declared(
node, name + ".w_data", rclcpp::ParameterValue(0.2));
node->get_parameter(name + ".w_data", data_w_);

nav2::declare_parameter_if_not_declared(
node, name + ".w_smooth", rclcpp::ParameterValue(0.3));
node->get_parameter(name + ".w_smooth", smooth_w_);

nav2::declare_parameter_if_not_declared(
node, name + ".do_refinement", rclcpp::ParameterValue(true));
node->get_parameter(name + ".do_refinement", do_refinement_);

nav2::declare_parameter_if_not_declared(
node, name + ".refinement_num", rclcpp::ParameterValue(2));
node->get_parameter(name + ".refinement_num", refinement_num_);

nav2::declare_parameter_if_not_declared(
node, name + ".enforce_path_inversion", rclcpp::ParameterValue(true));
node->get_parameter(name + ".enforce_path_inversion", enforce_path_inversion_);
}

Expand Down Expand Up @@ -126,6 +138,7 @@ void SimpleSmoother::smoothImpl(

nav_msgs::msg::Path new_path = path;
nav_msgs::msg::Path last_path = path;
const nav_msgs::msg::Path original_path = path; //new var
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Why the comment?


while (change >= tolerance_) {
its += 1;
Expand Down Expand Up @@ -199,6 +212,30 @@ void SimpleSmoother::smoothImpl(
}

updateApproximatePathOrientations(new_path, reversing_segment);

/* ***********************************************************************
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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.

const double cost = collision_checker_->footprintCostAtPose(
pose.pose.position.x,
pose.pose.position.y,
tf2::getYaw(pose.pose.orientation));

//If the footprint is in collision, reject the new path and keep the original.
if (cost > nav2_costmap_2d::MAX_NON_OBSTACLE && cost != nav2_costmap_2d::NO_INFORMATION) {
RCLCPP_WARN(
logger_,
"Smoother generated a path with a footprint in collision. "
"Reverting to the original path.");
path = original_path;
return;
}
}
/***********************************************************************
**************** END: NEW FOOTPRINT COLLISION CHECKING ****************
***********************************************************************/
path = new_path;
}

Expand Down
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