diff --git a/data/armarx_navigation/local_planner_config/TimedElasticBands/default.json b/data/armarx_navigation/local_planner_config/TimedElasticBands/default.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dcf777ba27257820a974dde220212696983348c
--- /dev/null
+++ b/data/armarx_navigation/local_planner_config/TimedElasticBands/default.json
@@ -0,0 +1,115 @@
+{
+ "robot_footprint_radius": 0.5,
+ "planning_distance": 3,
+
+ "teb_config": {
+ "pse": {
+ "pse_costum_obstacle_penalties": true,
+ "pse_costum_obstacle_penalties_dynamic": true,
+ "weight_global_path": 0.3,
+ "lrk_use_alternative_approach": false,
+ "lrk_enable_collision_check": true,
+ "hybrid_homotopy_calculation": true,
+ "robot_diff_circumscribed_inscribed_radius": 0.0
+ },
+
+ "trajectory": {
+ "teb_autosize": true,
+ "dt_ref": 0.3,
+ "dt_hysteresis": 0.1,
+ "min_samples": 3,
+ "max_samples": 500,
+ "global_plan_overwrite_orientation": true,
+ "allow_init_with_backwards_motion": false,
+ "exact_arc_length": false,
+ "force_reinit_new_goal_dist": 1,
+ "force_reinit_new_goal_angular": 1.5707963267948966,
+ "feasibility_check_no_poses": 5,
+ "feasibility_check_lookahead_distance": -1,
+ "min_resolution_collision_check_angular": 3.141592653589793
+ },
+
+ "robot": {
+ "max_vel_x": 0.5,
+ "max_vel_x_backwards": 0.5,
+ "max_vel_y": 0.5,
+ "max_vel_trans": 0.5,
+ "max_vel_theta": 0.5,
+ "acc_lim_x": 0.5,
+ "acc_lim_y": 0.5,
+ "acc_lim_theta": 0.5,
+ "min_turning_radius": 0
+ },
+
+ "goal_tolerance": {
+ "xy_goal_tolerance": 0.2
+ },
+
+ "obstacles": {
+ "min_obstacle_dist": 0.3,
+ "inflation_dist": 0.0,
+ "dynamic_obstacle_inflation_dist": 0.6,
+ "include_dynamic_obstacles": true,
+ "obstacle_association_force_inclusion_factor": 1.5,
+ "obstacle_association_cutoff_factor": 5,
+ "obstacle_proximity_ratio_max_vel": 1,
+ "obstacle_proximity_lower_bound": 0,
+ "obstacle_proximity_upper_bound": 0.5
+ },
+
+ "optim": {
+ "no_inner_iterations": 5,
+ "no_outer_iterations": 4,
+ "optimization_activate": true,
+ "optimization_verbose": false,
+ "penalty_epsilon": 0.05,
+ "weight_max_vel_x": 2,
+ "weight_max_vel_y": 2,
+ "weight_max_vel_theta": 1,
+ "weight_acc_lim_x": 1,
+ "weight_acc_lim_y": 1,
+ "weight_acc_lim_theta": 1,
+ "weight_kinematics_nh": 1000,
+ "weight_kinematics_forward_drive": 1,
+ "weight_kinematics_turning_radius": 1,
+ "weight_optimaltime": 1,
+ "weight_shortest_path": 1,
+ "weight_obstacle": 50,
+ "weight_inflation": 0.1,
+ "weight_dynamic_obstacle": 50,
+ "weight_dynamic_obstacle_inflation": 0.1,
+ "weight_velocity_obstacle_ratio": 0,
+ "weight_viapoint": 1,
+ "weight_prefer_rotdir": 50,
+ "weight_adapt_factor": 2.0,
+ "obstacle_cost_exponent": 1.0
+ },
+
+ "hcp": {
+ "enable_multithreading": true,
+ "simple_exploration": false,
+ "max_number_classes": 5,
+ "max_number_plans_in_current_class": 0,
+ "selection_cost_hysteresis": 1.0,
+ "selection_obst_cost_scale": 100.0,
+ "selection_viapoint_cost_scale": 1.0,
+ "selection_alternative_time_cost": false,
+ "selection_dropping_probability": 0.0,
+ "switching_blocking_period": 0.0,
+
+ "obstacle_heading_threshold": 0.45,
+ "roadmap_graph_no_samples": 20,
+ "roadmap_graph_area_width": 10,
+ "roadmap_graph_area_length_scale": 1.0,
+ "h_signature_prescaler": 1,
+ "h_signature_threshold": 0.1,
+
+ "viapoints_all_candidates": true,
+
+ "delete_detours_backwards": true,
+ "detours_orientation_tolerance": 1.5707963267948966,
+ "length_start_orientation_vector": 0.4,
+ "max_ratio_detours_duration_best_duration": 3.0
+ }
+ }
+}
diff --git a/source/armarx/navigation/local_planning/TimedElasticBands.cpp b/source/armarx/navigation/local_planning/TimedElasticBands.cpp
index 3ff39fd62e63d818d4b9b1f5aeedd6d2266aea84..de0514f6e23f8aea568adb86499f07b59e41773d 100644
--- a/source/armarx/navigation/local_planning/TimedElasticBands.cpp
+++ b/source/armarx/navigation/local_planning/TimedElasticBands.cpp
@@ -1,11 +1,15 @@
#include "TimedElasticBands.h"
+#include <SimoxUtility/json/json.hpp>
#include <VirtualRobot/MathTools.h>
#include <VirtualRobot/Robot.h>
#include <VirtualRobot/SceneObjectSet.h>
+#include <ArmarXCore/core/PackagePath.h>
#include <ArmarXCore/core/logging/Logging.h>
+#include "RobotAPI/libraries/aron/core/data/rw/reader/nlohmannJSON/NlohmannJSONReaderWithoutTypeCheck.h"
+
#include "armarx/navigation/conversions/eigen.h"
#include "armarx/navigation/core/Trajectory.h"
#include <armarx/navigation/local_planning/LocalPlanner.h>
@@ -30,23 +34,16 @@ namespace armarx::navigation::local_planning
aron::data::DictPtr
TimedElasticBandsParams::toAron() const
{
- arondto::TimedElasticBandsParams dto;
-
- TimedElasticBandsParams bo;
- armarx::navigation::local_planning::toAron(dto, bo);
-
- return dto.toAron();
+ return cfg.toAron();
}
TimedElasticBandsParams
TimedElasticBandsParams::FromAron(const aron::data::DictPtr& dict)
{
ARMARX_CHECK_NOT_NULL(dict);
- arondto::TimedElasticBandsParams dto;
- dto.fromAron(dict);
TimedElasticBandsParams bo;
- fromAron(dto, bo);
+ bo.cfg.fromAron(dict);
return bo;
}
@@ -54,12 +51,18 @@ namespace armarx::navigation::local_planning
// TimedElasticBands
- TimedElasticBands::TimedElasticBands(const Params& params, const core::Scene& ctx) :
- LocalPlanner(ctx), params(params), scene(ctx), obstManager(teb_obstacles)
+ TimedElasticBands::TimedElasticBands(const Params& i_params, const core::Scene& ctx) :
+ LocalPlanner(ctx), params(i_params), scene(ctx), obstManager(teb_obstacles)
{
- //TODO (SALt): init configuration, robot footprint
- initConfig();
- auto robot_model = boost::make_shared<teb_local_planner::CircularRobotFootprint>(0.2);
+ //TODO (SALt): find proper place to init with default config
+ if (true)
+ {
+ readDefaultConfig(params.cfg);
+ }
+ toTebCfg(params.cfg, cfg_);
+
+ auto robot_model = boost::make_shared<teb_local_planner::CircularRobotFootprint>(
+ params.cfg.robot_footprint_radius);
hcp_ = std::make_unique<teb_local_planner::HomotopyClassPlanner>();
hcp_->initialize(
@@ -69,32 +72,24 @@ namespace armarx::navigation::local_planning
}
void
- TimedElasticBands::initConfig()
+ TimedElasticBands::readDefaultConfig(arondto::TimedElasticBandsParams& target)
{
- cfg_.robot.max_vel_x = 1.0;
- cfg_.robot.max_vel_x_backwards = 1.0;
- cfg_.robot.max_vel_y = 1.0;
- cfg_.robot.max_vel_theta = 1.0;
- cfg_.robot.acc_lim_x = 1.0;
- cfg_.robot.acc_lim_y = 1.0;
- cfg_.robot.acc_lim_theta = 1.0;
-
- cfg_.optim.weight_max_vel_x = 1.0;
- cfg_.optim.weight_max_vel_y = 1.0;
- cfg_.optim.weight_max_vel_theta = 1.0;
- cfg_.optim.weight_acc_lim_x = 1.0;
- cfg_.optim.weight_acc_lim_y = 1.0;
- cfg_.optim.weight_acc_lim_theta = 1.0;
-
- cfg_.optim.weight_optimaltime = 0.6;
- cfg_.optim.weight_shortest_path = 0.6;
-
- cfg_.hcp.selection_cost_hysteresis = 1.0;
- cfg_.hcp.switching_blocking_period = 0;
-
- cfg_.pse.weight_global_path = 0.6;
-
- cfg_.trajectory.global_plan_overwrite_orientation = true;
+ const armarx::PackagePath configPath("armarx_navigation",
+ "local_planner_config/TimedElasticBands/default.json");
+ const std::filesystem::path file = configPath.toSystemPath();
+
+ ARMARX_CHECK(std::filesystem::is_regular_file(file)) << file;
+
+ ARMARX_INFO << "Loading config from file `" << file << "`.";
+ std::ifstream ifs{file};
+
+ nlohmann::json jsonConfig;
+ ifs >> jsonConfig;
+
+ ARMARX_INFO << "Reading config";
+
+ armarx::aron::data::reader::NlohmannJSONReaderWithoutTypeCheck reader;
+ target.read(reader, jsonConfig);
}
std::optional<LocalPlannerResult>
@@ -102,10 +97,9 @@ namespace armarx::navigation::local_planning
{
const core::Pose currentPose{scene.robot->getGlobalPose()};
- // TODO (SALt): put distance parameter into config (note: distance is in mm)
// prune global trajectory
- const auto& [prunedGoal, planToDest] =
- goal.getSubTrajectory(currentPose.translation(), 2000);
+ const auto& [prunedGoal, planToDest] = goal.getSubTrajectory(
+ currentPose.translation(), params.cfg.planning_distance * 1000); // [m] to [mm]
const teb_local_planner::TimedElasticBand globalPath = conv::toRos(prunedGoal);
teb_globalPath = globalPath.poses();
@@ -122,7 +116,6 @@ namespace armarx::navigation::local_planning
try
{
- // TODO (SALt): free goal velocity is not respected inside homotopy planner
hcp_->plan(start, end, &velocity_start, !planToDest);
}
catch (std::exception& e)
@@ -146,7 +139,7 @@ namespace armarx::navigation::local_planning
if (scene.staticScene.has_value())
{
- for (auto& obst : scene.staticScene.value().objects->getCollisionModels())
+ for (const auto& obst : scene.staticScene.value().objects->getCollisionModels())
{
obstManager.addBoxObstacle(obst->getGlobalBoundingBox());
}
diff --git a/source/armarx/navigation/local_planning/TimedElasticBands.h b/source/armarx/navigation/local_planning/TimedElasticBands.h
index f8c005aca06af92f6aadbc6da14241c82a9eee97..9eba4d52739af83a79e0adcbc6cd8b0b19386b27 100644
--- a/source/armarx/navigation/local_planning/TimedElasticBands.h
+++ b/source/armarx/navigation/local_planning/TimedElasticBands.h
@@ -28,6 +28,7 @@
#include <armarx/navigation/core/Trajectory.h>
#include <armarx/navigation/local_planning/LocalPlanner.h>
#include <armarx/navigation/local_planning/TebObstacleManager.h>
+#include <armarx/navigation/local_planning/aron/TimedElasticBands.aron.generated.h>
#include <armarx/navigation/local_planning/core.h>
#include <teb_local_planner/homotopy_class_planner.h>
#include <teb_local_planner/teb_config.h>
@@ -38,8 +39,7 @@ namespace armarx::navigation::local_planning
struct TimedElasticBandsParams : public LocalPlannerParams
{
- bool includeStartPose{false};
-
+ arondto::TimedElasticBandsParams cfg;
Algorithms algorithm() const override;
aron::data::DictPtr toAron() const override;
@@ -59,11 +59,11 @@ namespace armarx::navigation::local_planning
std::optional<LocalPlannerResult> plan(const core::GlobalTrajectory& goal) override;
private:
- void initConfig();
+ void readDefaultConfig(arondto::TimedElasticBandsParams& target);
void fillObstacles();
protected:
- const Params params;
+ Params params;
private:
const core::Scene& scene;
diff --git a/source/armarx/navigation/local_planning/aron/TimedElasticBands.xml b/source/armarx/navigation/local_planning/aron/TimedElasticBands.xml
index 2c352aca2f9c548600b3093a847de474319b5972..4c3c924966bd6cdc02ec0b20eaf6f20d659993ba 100644
--- a/source/armarx/navigation/local_planning/aron/TimedElasticBands.xml
+++ b/source/armarx/navigation/local_planning/aron/TimedElasticBands.xml
@@ -5,10 +5,400 @@
</AronIncludes>
<GenerateTypes>
+ <Object name='armarx::navigation::local_planning::arondto::pse'>
+ <ObjectChild key='pse_costum_obstacle_penalties'>
+ <bool />
+ </ObjectChild>
+
+ <ObjectChild key='pse_costum_obstacle_penalties_dynamic'>
+ <bool />
+ </ObjectChild>
+
+ <ObjectChild key='weight_global_path'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='lrk_use_alternative_approach'>
+ <bool />
+ </ObjectChild>
+
+ <ObjectChild key='lrk_enable_collision_check'>
+ <bool />
+ </ObjectChild>
+
+ <ObjectChild key='hybrid_homotopy_calculation'>
+ <bool />
+ </ObjectChild>
+
+ <ObjectChild key='robot_diff_circumscribed_inscribed_radius'>
+ <float />
+ </ObjectChild>
+ </Object>
+
+ <Object name='armarx::navigation::local_planning::arondto::trajectory'>
+ <ObjectChild key='teb_autosize'>
+ <bool />
+ </ObjectChild>
+
+ <ObjectChild key='dt_ref'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='dt_hysteresis'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='min_samples'>
+ <int />
+ </ObjectChild>
+
+ <ObjectChild key='max_samples'>
+ <int />
+ </ObjectChild>
+
+ <ObjectChild key='global_plan_overwrite_orientation'>
+ <bool />
+ </ObjectChild>
+
+ <ObjectChild key='allow_init_with_backwards_motion'>
+ <bool />
+ </ObjectChild>
+
+ <ObjectChild key='exact_arc_length'>
+ <bool />
+ </ObjectChild>
+
+ <ObjectChild key='force_reinit_new_goal_dist'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='force_reinit_new_goal_angular'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='feasibility_check_no_poses'>
+ <int />
+ </ObjectChild>
+
+ <ObjectChild key='feasibility_check_lookahead_distance'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='min_resolution_collision_check_angular'>
+ <float />
+ </ObjectChild>
+ </Object>
+
+ <Object name='armarx::navigation::local_planning::arondto::robot'>
+ <ObjectChild key='max_vel_x'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='max_vel_x_backwards'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='max_vel_y'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='max_vel_trans'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='max_vel_theta'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='acc_lim_x'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='acc_lim_y'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='acc_lim_theta'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='min_turning_radius'>
+ <float />
+ </ObjectChild>
+ </Object>
+
+ <Object name='armarx::navigation::local_planning::arondto::goal_tolerance'>
+ <ObjectChild key='xy_goal_tolerance'>
+ <float />
+ </ObjectChild>
+ </Object>
+
+ <Object name='armarx::navigation::local_planning::arondto::obstacles'>
+ <ObjectChild key='min_obstacle_dist'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='inflation_dist'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='dynamic_obstacle_inflation_dist'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='include_dynamic_obstacles'>
+ <bool />
+ </ObjectChild>
+
+ <ObjectChild key='obstacle_association_force_inclusion_factor'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='obstacle_association_cutoff_factor'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='obstacle_proximity_ratio_max_vel'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='obstacle_proximity_lower_bound'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='obstacle_proximity_upper_bound'>
+ <float />
+ </ObjectChild>
+ </Object>
+
+ <Object name='armarx::navigation::local_planning::arondto::optim'>
+ <ObjectChild key='no_inner_iterations'>
+ <int />
+ </ObjectChild>
+
+ <ObjectChild key='no_outer_iterations'>
+ <int />
+ </ObjectChild>
+
+ <ObjectChild key='optimization_activate'>
+ <bool />
+ </ObjectChild>
+
+ <ObjectChild key='optimization_verbose'>
+ <bool />
+ </ObjectChild>
+
+ <ObjectChild key='penalty_epsilon'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='weight_max_vel_x'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='weight_max_vel_y'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='weight_max_vel_theta'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='weight_acc_lim_x'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='weight_acc_lim_y'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='weight_acc_lim_theta'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='weight_kinematics_nh'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='weight_kinematics_forward_drive'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='weight_kinematics_turning_radius'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='weight_optimaltime'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='weight_shortest_path'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='weight_obstacle'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='weight_inflation'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='weight_dynamic_obstacle'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='weight_dynamic_obstacle_inflation'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='weight_velocity_obstacle_ratio'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='weight_viapoint'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='weight_prefer_rotdir'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='weight_adapt_factor'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='obstacle_cost_exponent'>
+ <float />
+ </ObjectChild>
+ </Object>
+
+ <Object name='armarx::navigation::local_planning::arondto::hcp'>
+ <ObjectChild key='enable_multithreading'>
+ <bool />
+ </ObjectChild>
+
+ <ObjectChild key='simple_exploration'>
+ <bool />
+ </ObjectChild>
+
+ <ObjectChild key='max_number_classes'>
+ <int />
+ </ObjectChild>
+
+ <ObjectChild key='max_number_plans_in_current_class'>
+ <int />
+ </ObjectChild>
+
+ <ObjectChild key='selection_cost_hysteresis'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='selection_obst_cost_scale'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='selection_viapoint_cost_scale'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='selection_alternative_time_cost'>
+ <bool />
+ </ObjectChild>
+
+ <ObjectChild key='selection_dropping_probability'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='switching_blocking_period'>
+ <float />
+ </ObjectChild>
+
+
+ <ObjectChild key='obstacle_heading_threshold'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='roadmap_graph_no_samples'>
+ <int />
+ </ObjectChild>
+
+ <ObjectChild key='roadmap_graph_area_width'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='roadmap_graph_area_length_scale'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='h_signature_prescaler'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='h_signature_threshold'>
+ <float />
+ </ObjectChild>
+
+
+ <ObjectChild key='viapoints_all_candidates'>
+ <bool />
+ </ObjectChild>
+
+
+ <ObjectChild key='delete_detours_backwards'>
+ <bool />
+ </ObjectChild>
+
+ <ObjectChild key='detours_orientation_tolerance'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='length_start_orientation_vector'>
+ <float />
+ </ObjectChild>
+
+ <ObjectChild key='max_ratio_detours_duration_best_duration'>
+ <float />
+ </ObjectChild>
+ </Object>
+
+ <Object name='armarx::navigation::local_planning::arondto::teb_config'>
+ <ObjectChild key='pse'>
+ <armarx::navigation::local_planning::arondto::pse />
+ </ObjectChild>
+ <ObjectChild key='trajectory'>
+ <armarx::navigation::local_planning::arondto::trajectory />
+ </ObjectChild>
+ <ObjectChild key='robot'>
+ <armarx::navigation::local_planning::arondto::robot />
+ </ObjectChild>
+ <ObjectChild key='goal_tolerance'>
+ <armarx::navigation::local_planning::arondto::goal_tolerance />
+ </ObjectChild>
+ <ObjectChild key='obstacles'>
+ <armarx::navigation::local_planning::arondto::obstacles />
+ </ObjectChild>
+ <ObjectChild key='optim'>
+ <armarx::navigation::local_planning::arondto::optim />
+ </ObjectChild>
+ <ObjectChild key='hcp'>
+ <armarx::navigation::local_planning::arondto::hcp />
+ </ObjectChild>
+ </Object>
+
<Object name='armarx::navigation::local_planning::arondto::TimedElasticBandsParams'>
- <ObjectChild key='foo'>
+ <ObjectChild key='robot_footprint_radius'>
+ <float />
+ </ObjectChild>
+ <ObjectChild key='planning_distance'>
<float />
</ObjectChild>
+ <ObjectChild key='teb_config'>
+ <armarx::navigation::local_planning::arondto::teb_config />
+ </ObjectChild>
</Object>
+
+
+
</GenerateTypes>
</AronTypeDefinition>
diff --git a/source/armarx/navigation/local_planning/aron_conversions.cpp b/source/armarx/navigation/local_planning/aron_conversions.cpp
index 44599c44b4d1953ba5d26cc557c07863895d1a4c..220a02b3bfb94f339db205a0e7167e7b78ca55b7 100644
--- a/source/armarx/navigation/local_planning/aron_conversions.cpp
+++ b/source/armarx/navigation/local_planning/aron_conversions.cpp
@@ -14,11 +14,141 @@ namespace armarx::navigation::local_planning
void
toAron(arondto::TimedElasticBandsParams& dto, const TimedElasticBandsParams& bo)
{
+ dto = bo.cfg;
}
void
fromAron(const arondto::TimedElasticBandsParams& dto, TimedElasticBandsParams& bo)
{
+ bo.cfg = dto;
+ }
+
+ void
+ toTebCfg(const arondto::TimedElasticBandsParams& dto, teb_local_planner::TebConfig& bo)
+ {
+ bo.pse.pse_costum_obstacle_penalties = dto.teb_config.pse.pse_costum_obstacle_penalties;
+ bo.pse.pse_costum_obstacle_penalties_dynamic =
+ dto.teb_config.pse.pse_costum_obstacle_penalties_dynamic;
+ bo.pse.weight_global_path = dto.teb_config.pse.weight_global_path;
+ bo.pse.lrk_use_alternative_approach = dto.teb_config.pse.lrk_use_alternative_approach;
+ bo.pse.lrk_enable_collision_check = dto.teb_config.pse.lrk_enable_collision_check;
+ bo.pse.hybrid_homotopy_calculation = dto.teb_config.pse.hybrid_homotopy_calculation;
+ bo.pse.robot_diff_circumscribed_inscribed_radius =
+ dto.teb_config.pse.robot_diff_circumscribed_inscribed_radius;
+
+ // Trajectory
+ bo.trajectory.teb_autosize = bo.trajectory.teb_autosize;
+ bo.trajectory.dt_ref = dto.teb_config.trajectory.dt_ref;
+ bo.trajectory.dt_hysteresis = dto.teb_config.trajectory.dt_hysteresis;
+ bo.trajectory.min_samples = dto.teb_config.trajectory.min_samples;
+ bo.trajectory.max_samples = dto.teb_config.trajectory.max_samples;
+ bo.trajectory.global_plan_overwrite_orientation =
+ dto.teb_config.trajectory.global_plan_overwrite_orientation;
+ bo.trajectory.allow_init_with_backwards_motion =
+ dto.teb_config.trajectory.allow_init_with_backwards_motion;
+ bo.trajectory.exact_arc_length = dto.teb_config.trajectory.exact_arc_length;
+ bo.trajectory.force_reinit_new_goal_dist =
+ dto.teb_config.trajectory.force_reinit_new_goal_dist;
+ bo.trajectory.force_reinit_new_goal_angular =
+ dto.teb_config.trajectory.force_reinit_new_goal_angular;
+ bo.trajectory.feasibility_check_no_poses =
+ dto.teb_config.trajectory.feasibility_check_no_poses;
+ bo.trajectory.feasibility_check_lookahead_distance =
+ dto.teb_config.trajectory.feasibility_check_lookahead_distance;
+ bo.trajectory.min_resolution_collision_check_angular =
+ dto.teb_config.trajectory.min_resolution_collision_check_angular;
+
+ // Robot
+ bo.robot.max_vel_x = dto.teb_config.robot.max_vel_x;
+ bo.robot.max_vel_x_backwards = dto.teb_config.robot.max_vel_x_backwards;
+ bo.robot.max_vel_y = dto.teb_config.robot.max_vel_y;
+ bo.robot.max_vel_trans = dto.teb_config.robot.max_vel_trans;
+ bo.robot.max_vel_theta = dto.teb_config.robot.max_vel_theta;
+ bo.robot.acc_lim_x = dto.teb_config.robot.acc_lim_x;
+ bo.robot.acc_lim_y = dto.teb_config.robot.acc_lim_y;
+ bo.robot.acc_lim_theta = dto.teb_config.robot.acc_lim_theta;
+ bo.robot.min_turning_radius = dto.teb_config.robot.min_turning_radius;
+
+ // GoalTolerance
+ bo.goal_tolerance.xy_goal_tolerance = dto.teb_config.goal_tolerance.xy_goal_tolerance;
+
+ // Obstacles
+ bo.obstacles.min_obstacle_dist = dto.teb_config.obstacles.min_obstacle_dist;
+ bo.obstacles.inflation_dist = dto.teb_config.obstacles.inflation_dist;
+ bo.obstacles.dynamic_obstacle_inflation_dist =
+ dto.teb_config.obstacles.dynamic_obstacle_inflation_dist;
+ bo.obstacles.include_dynamic_obstacles = dto.teb_config.obstacles.include_dynamic_obstacles;
+ bo.obstacles.obstacle_association_force_inclusion_factor =
+ dto.teb_config.obstacles.obstacle_association_force_inclusion_factor;
+ bo.obstacles.obstacle_association_cutoff_factor =
+ dto.teb_config.obstacles.obstacle_association_cutoff_factor;
+ bo.obstacles.obstacle_proximity_ratio_max_vel =
+ dto.teb_config.obstacles.obstacle_proximity_ratio_max_vel;
+ bo.obstacles.obstacle_proximity_lower_bound =
+ dto.teb_config.obstacles.obstacle_proximity_lower_bound;
+ bo.obstacles.obstacle_proximity_upper_bound =
+ dto.teb_config.obstacles.obstacle_proximity_upper_bound;
+
+ // Optimization
+ bo.optim.no_inner_iterations = dto.teb_config.optim.no_inner_iterations;
+ bo.optim.no_outer_iterations = dto.teb_config.optim.no_outer_iterations;
+ bo.optim.optimization_activate = dto.teb_config.optim.optimization_activate;
+ bo.optim.optimization_verbose = dto.teb_config.optim.optimization_verbose;
+ bo.optim.penalty_epsilon = dto.teb_config.optim.penalty_epsilon;
+ bo.optim.weight_max_vel_x = dto.teb_config.optim.weight_max_vel_x;
+ bo.optim.weight_max_vel_y = dto.teb_config.optim.weight_max_vel_y;
+ bo.optim.weight_max_vel_theta = dto.teb_config.optim.weight_max_vel_theta;
+ bo.optim.weight_acc_lim_x = dto.teb_config.optim.weight_acc_lim_x;
+ bo.optim.weight_acc_lim_y = dto.teb_config.optim.weight_acc_lim_y;
+ bo.optim.weight_acc_lim_theta = dto.teb_config.optim.weight_acc_lim_theta;
+ bo.optim.weight_kinematics_nh = dto.teb_config.optim.weight_kinematics_nh;
+ bo.optim.weight_kinematics_forward_drive =
+ dto.teb_config.optim.weight_kinematics_forward_drive;
+ bo.optim.weight_kinematics_turning_radius =
+ dto.teb_config.optim.weight_kinematics_turning_radius;
+ bo.optim.weight_optimaltime = dto.teb_config.optim.weight_optimaltime;
+ bo.optim.weight_shortest_path = dto.teb_config.optim.weight_shortest_path;
+ bo.optim.weight_obstacle = dto.teb_config.optim.weight_obstacle;
+ bo.optim.weight_inflation = dto.teb_config.optim.weight_inflation;
+ bo.optim.weight_dynamic_obstacle = dto.teb_config.optim.weight_dynamic_obstacle;
+ bo.optim.weight_dynamic_obstacle_inflation =
+ dto.teb_config.optim.weight_dynamic_obstacle_inflation;
+ bo.optim.weight_velocity_obstacle_ratio =
+ dto.teb_config.optim.weight_velocity_obstacle_ratio;
+ bo.optim.weight_viapoint = dto.teb_config.optim.weight_viapoint;
+ bo.optim.weight_prefer_rotdir = dto.teb_config.optim.weight_prefer_rotdir;
+ bo.optim.weight_adapt_factor = dto.teb_config.optim.weight_adapt_factor;
+ bo.optim.obstacle_cost_exponent = dto.teb_config.optim.obstacle_cost_exponent;
+
+ // Homotopy Class Planner
+ bo.hcp.enable_multithreading = dto.teb_config.hcp.enable_multithreading;
+ bo.hcp.simple_exploration = dto.teb_config.hcp.simple_exploration;
+ bo.hcp.max_number_classes = dto.teb_config.hcp.max_number_classes;
+ bo.hcp.max_number_plans_in_current_class =
+ dto.teb_config.hcp.max_number_plans_in_current_class;
+ bo.hcp.selection_cost_hysteresis = dto.teb_config.hcp.selection_cost_hysteresis;
+ bo.hcp.selection_obst_cost_scale = dto.teb_config.hcp.selection_obst_cost_scale;
+ bo.hcp.selection_viapoint_cost_scale = dto.teb_config.hcp.selection_viapoint_cost_scale;
+ bo.hcp.selection_alternative_time_cost = dto.teb_config.hcp.selection_alternative_time_cost;
+ bo.hcp.selection_dropping_probability = dto.teb_config.hcp.selection_dropping_probability;
+ bo.hcp.switching_blocking_period = dto.teb_config.hcp.switching_blocking_period;
+
+ bo.hcp.obstacle_heading_threshold = dto.teb_config.hcp.obstacle_heading_threshold;
+ bo.hcp.roadmap_graph_no_samples = dto.teb_config.hcp.roadmap_graph_no_samples;
+ bo.hcp.roadmap_graph_area_width = dto.teb_config.hcp.roadmap_graph_area_width;
+ bo.hcp.roadmap_graph_area_length_scale = dto.teb_config.hcp.roadmap_graph_area_length_scale;
+ bo.hcp.h_signature_prescaler = dto.teb_config.hcp.h_signature_prescaler;
+ bo.hcp.h_signature_threshold = dto.teb_config.hcp.h_signature_threshold;
+
+ bo.hcp.viapoints_all_candidates = dto.teb_config.hcp.viapoints_all_candidates;
+
+ bo.hcp.delete_detours_backwards = dto.teb_config.hcp.delete_detours_backwards;
+ bo.hcp.detours_orientation_tolerance = dto.teb_config.hcp.detours_orientation_tolerance;
+ bo.hcp.length_start_orientation_vector = dto.teb_config.hcp.length_start_orientation_vector;
+ bo.hcp.max_ratio_detours_duration_best_duration =
+ dto.teb_config.hcp.max_ratio_detours_duration_best_duration;
+
+ bo.checkParameters();
}
diff --git a/source/armarx/navigation/local_planning/aron_conversions.h b/source/armarx/navigation/local_planning/aron_conversions.h
index 1b7d2382255a542a15fa9066a0a83348ec1e2fb2..22eb26d1a468e9ce7f56027e2bb00b28767b3d27 100644
--- a/source/armarx/navigation/local_planning/aron_conversions.h
+++ b/source/armarx/navigation/local_planning/aron_conversions.h
@@ -1,5 +1,7 @@
#pragma once
+#include <teb_local_planner/teb_config.h>
+
namespace armarx::navigation::local_planning
{
// struct LocalPlannerParams;
@@ -19,4 +21,6 @@ namespace armarx::navigation::local_planning
void toAron(arondto::TimedElasticBandsParams& dto, const TimedElasticBandsParams& bo);
void fromAron(const arondto::TimedElasticBandsParams& dto, TimedElasticBandsParams& bo);
+ void toTebCfg(const arondto::TimedElasticBandsParams& dto, teb_local_planner::TebConfig& bo);
+
} // namespace armarx::navigation::local_planning
diff --git a/source/armarx/navigation/local_planning/ros_conversions.cpp b/source/armarx/navigation/local_planning/ros_conversions.cpp
index 3ad81d9c24bf20736e15b5473689a1f585b421ac..c23adf1af93c6eaa9196f8398e6c5f5f8e764ba3 100644
--- a/source/armarx/navigation/local_planning/ros_conversions.cpp
+++ b/source/armarx/navigation/local_planning/ros_conversions.cpp
@@ -18,7 +18,7 @@ namespace armarx::navigation::conv
Eigen::Vector2d
toRos(const Eigen::Vector3f& vec)
{
- return conv::to2D(vec).cast<double>() / 1000;
+ return conv::to2D(vec).cast<double>() / 1000; // [mm] to [m]
}
diff --git a/source/armarx/navigation/server/introspection/ArvizIntrospector.cpp b/source/armarx/navigation/server/introspection/ArvizIntrospector.cpp
index 694ff174eb4569e437b3d6c997f4ed69d0ac354a..cb1f306e636a84d57a244620bbcbde7380ada2ae 100644
--- a/source/armarx/navigation/server/introspection/ArvizIntrospector.cpp
+++ b/source/armarx/navigation/server/introspection/ArvizIntrospector.cpp
@@ -172,7 +172,7 @@ namespace armarx::navigation::server
simox::ColorMap cm = simox::color::cmaps::inferno();
cm.set_vmin(0);
- cm.set_vmax(1);
+ cm.set_vmax(0.6);
for (size_t i = 0; i < trajectory.points().size() - 1; i++)
{