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Adding new Nav2 Smoother: Savitzky-Golay Smoother (#3264)
* initial prototype of the Savitzky Golay Filter Path Smoother * fixed indexing issue - tested working * updates for filter * adding unit tests for SG-filter smoother * adding lifecycle transitions
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nav2_smoother/include/nav2_smoother/savitzky_golay_smoother.hpp
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| Original file line number | Diff line number | Diff line change |
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| // Copyright (c) 2022, Samsung Research America | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. Reserved. | ||
|
|
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| #ifndef NAV2_SMOOTHER__SAVITZKY_GOLAY_SMOOTHER_HPP_ | ||
| #define NAV2_SMOOTHER__SAVITZKY_GOLAY_SMOOTHER_HPP_ | ||
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| #include <cmath> | ||
| #include <vector> | ||
| #include <string> | ||
| #include <iostream> | ||
| #include <memory> | ||
| #include <queue> | ||
| #include <utility> | ||
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| #include "nav2_core/smoother.hpp" | ||
| #include "nav2_smoother/smoother_utils.hpp" | ||
| #include "nav2_costmap_2d/costmap_2d.hpp" | ||
| #include "nav2_costmap_2d/cost_values.hpp" | ||
| #include "nav2_util/geometry_utils.hpp" | ||
| #include "nav2_util/node_utils.hpp" | ||
| #include "nav_msgs/msg/path.hpp" | ||
| #include "angles/angles.h" | ||
| #include "tf2/utils.h" | ||
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| namespace nav2_smoother | ||
| { | ||
|
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| /** | ||
| * @class nav2_smoother::SavitzkyGolaySmoother | ||
| * @brief A path smoother implementation using Savitzky Golay filters | ||
| */ | ||
| class SavitzkyGolaySmoother : public nav2_core::Smoother | ||
| { | ||
| public: | ||
| /** | ||
| * @brief A constructor for nav2_smoother::SavitzkyGolaySmoother | ||
| */ | ||
| SavitzkyGolaySmoother() = default; | ||
|
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| /** | ||
| * @brief A destructor for nav2_smoother::SavitzkyGolaySmoother | ||
| */ | ||
| ~SavitzkyGolaySmoother() override = default; | ||
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| void configure( | ||
| const rclcpp_lifecycle::LifecycleNode::WeakPtr &, | ||
| std::string name, std::shared_ptr<tf2_ros::Buffer>, | ||
| std::shared_ptr<nav2_costmap_2d::CostmapSubscriber>, | ||
| std::shared_ptr<nav2_costmap_2d::FootprintSubscriber>) override; | ||
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| /** | ||
| * @brief Method to cleanup resources. | ||
| */ | ||
| void cleanup() override {} | ||
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| /** | ||
| * @brief Method to activate smoother and any threads involved in execution. | ||
| */ | ||
| void activate() override {} | ||
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| /** | ||
| * @brief Method to deactivate smoother and any threads involved in execution. | ||
| */ | ||
| void deactivate() override {} | ||
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| /** | ||
| * @brief Method to smooth given path | ||
| * | ||
| * @param path In-out path to be smoothed | ||
| * @param max_time Maximum duration smoothing should take | ||
| * @return If smoothing was completed (true) or interrupted by time limit (false) | ||
| */ | ||
| bool smooth( | ||
| nav_msgs::msg::Path & path, | ||
| const rclcpp::Duration & max_time) override; | ||
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| protected: | ||
| /** | ||
| * @brief Smoother method - does the smoothing on a segment | ||
| * @param path Reference to path | ||
| * @param reversing_segment Return if this is a reversing segment | ||
| * @param costmap Pointer to minimal costmap | ||
| * @param max_time Maximum time to compute, stop early if over limit | ||
| * @return If smoothing was successful | ||
| */ | ||
| bool smoothImpl( | ||
| nav_msgs::msg::Path & path, | ||
| bool & reversing_segment); | ||
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| bool do_refinement_; | ||
| int refinement_num_; | ||
| rclcpp::Logger logger_{rclcpp::get_logger("SGSmoother")}; | ||
| }; | ||
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| } // namespace nav2_smoother | ||
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| #endif // NAV2_SMOOTHER__SAVITZKY_GOLAY_SMOOTHER_HPP_ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,132 @@ | ||
| // Copyright (c) 2022, Samsung Research America | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. Reserved. | ||
|
|
||
| #ifndef NAV2_SMOOTHER__SMOOTHER_UTILS_HPP_ | ||
| #define NAV2_SMOOTHER__SMOOTHER_UTILS_HPP_ | ||
|
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| #include <cmath> | ||
| #include <vector> | ||
| #include <string> | ||
| #include <iostream> | ||
| #include <memory> | ||
| #include <queue> | ||
| #include <utility> | ||
|
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| #include "nav2_core/smoother.hpp" | ||
| #include "nav2_costmap_2d/costmap_2d.hpp" | ||
| #include "nav2_costmap_2d/cost_values.hpp" | ||
| #include "nav2_util/geometry_utils.hpp" | ||
| #include "nav2_util/node_utils.hpp" | ||
| #include "nav_msgs/msg/path.hpp" | ||
| #include "angles/angles.h" | ||
| #include "tf2/utils.h" | ||
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| namespace smoother_utils | ||
| { | ||
|
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| /** | ||
| * @class nav2_smoother::PathSegment | ||
| * @brief A segment of a path in start/end indices | ||
| */ | ||
| struct PathSegment | ||
| { | ||
| unsigned int start; | ||
| unsigned int end; | ||
| }; | ||
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| typedef std::vector<geometry_msgs::msg::PoseStamped>::iterator PathIterator; | ||
| typedef std::vector<geometry_msgs::msg::PoseStamped>::reverse_iterator ReversePathIterator; | ||
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| inline std::vector<PathSegment> findDirectionalPathSegments( | ||
| const nav_msgs::msg::Path & path) | ||
| { | ||
| std::vector<PathSegment> segments; | ||
| PathSegment curr_segment; | ||
| curr_segment.start = 0; | ||
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| // Iterating through the path to determine the position of the cusp | ||
| for (unsigned int idx = 1; idx < path.poses.size() - 1; ++idx) { | ||
| // We have two vectors for the dot product OA and AB. Determining the vectors. | ||
| double oa_x = path.poses[idx].pose.position.x - | ||
| path.poses[idx - 1].pose.position.x; | ||
| double oa_y = path.poses[idx].pose.position.y - | ||
| path.poses[idx - 1].pose.position.y; | ||
| double ab_x = path.poses[idx + 1].pose.position.x - | ||
| path.poses[idx].pose.position.x; | ||
| double ab_y = path.poses[idx + 1].pose.position.y - | ||
| path.poses[idx].pose.position.y; | ||
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| // Checking for the existance of cusp, in the path, using the dot product. | ||
| double dot_product = (oa_x * ab_x) + (oa_y * ab_y); | ||
| if (dot_product < 0.0) { | ||
| curr_segment.end = idx; | ||
| segments.push_back(curr_segment); | ||
| curr_segment.start = idx; | ||
| } | ||
|
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| // Checking for the existance of a differential rotation in place. | ||
| double cur_theta = tf2::getYaw(path.poses[idx].pose.orientation); | ||
| double next_theta = tf2::getYaw(path.poses[idx + 1].pose.orientation); | ||
| double dtheta = angles::shortest_angular_distance(cur_theta, next_theta); | ||
| if (fabs(ab_x) < 1e-4 && fabs(ab_y) < 1e-4 && fabs(dtheta) > 1e-4) { | ||
| curr_segment.end = idx; | ||
| segments.push_back(curr_segment); | ||
| curr_segment.start = idx; | ||
| } | ||
| } | ||
|
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| curr_segment.end = path.poses.size() - 1; | ||
| segments.push_back(curr_segment); | ||
| return segments; | ||
| } | ||
|
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| inline void updateApproximatePathOrientations( | ||
| nav_msgs::msg::Path & path, | ||
| bool & reversing_segment) | ||
| { | ||
| double dx, dy, theta, pt_yaw; | ||
| reversing_segment = false; | ||
|
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| // Find if this path segment is in reverse | ||
| dx = path.poses[2].pose.position.x - path.poses[1].pose.position.x; | ||
| dy = path.poses[2].pose.position.y - path.poses[1].pose.position.y; | ||
| theta = atan2(dy, dx); | ||
| pt_yaw = tf2::getYaw(path.poses[1].pose.orientation); | ||
| if (fabs(angles::shortest_angular_distance(pt_yaw, theta)) > M_PI_2) { | ||
| reversing_segment = true; | ||
| } | ||
|
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| // Find the angle relative the path position vectors | ||
| for (unsigned int i = 0; i != path.poses.size() - 1; i++) { | ||
| dx = path.poses[i + 1].pose.position.x - path.poses[i].pose.position.x; | ||
| dy = path.poses[i + 1].pose.position.y - path.poses[i].pose.position.y; | ||
| theta = atan2(dy, dx); | ||
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| // If points are overlapping, pass | ||
| if (fabs(dx) < 1e-4 && fabs(dy) < 1e-4) { | ||
| continue; | ||
| } | ||
|
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| // Flip the angle if this path segment is in reverse | ||
| if (reversing_segment) { | ||
| theta += M_PI; // orientationAroundZAxis will normalize | ||
| } | ||
|
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| path.poses[i].pose.orientation = nav2_util::geometry_utils::orientationAroundZAxis(theta); | ||
| } | ||
| } | ||
|
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| } // namespace smoother_utils | ||
|
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| #endif // NAV2_SMOOTHER__SMOOTHER_UTILS_HPP_ |
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