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Hot fix rrp slow #2526

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merged 3 commits into from
Aug 24, 2021
Merged

Hot fix rrp slow #2526

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a9fe8eb
review update
padhupradheep Aug 20, 2021
87b8900
updated the 2nd review comments
padhupradheep Aug 20, 2021
4d48521
String formatting
padhupradheep Aug 24, 2021
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1 change: 1 addition & 0 deletions ...ller/include/nav2_regulated_pure_pursuit_controller/regulated_pure_pursuit_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -232,6 +232,7 @@ class RegulatedPurePursuitController : public nav2_core::Controller
std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros_;
nav2_costmap_2d::Costmap2D * costmap_;
rclcpp::Logger logger_ {rclcpp::get_logger("RegulatedPurePursuitController")};
rclcpp::Clock::SharedPtr clock_;

double desired_linear_vel_, base_desired_linear_vel_;
double lookahead_dist_;
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22 changes: 20 additions & 2 deletions nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp
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Expand Up @@ -51,6 +51,7 @@ void RegulatedPurePursuitController::configure(
tf_ = tf;
plugin_name_ = name;
logger_ = node->get_logger();
clock_ = node->get_clock();

double transform_tolerance = 0.1;
double control_frequency = 20.0;
Expand Down Expand Up @@ -436,7 +437,15 @@ bool RegulatedPurePursuitController::isCollisionImminent(
bool RegulatedPurePursuitController::inCollision(const double & x, const double & y)
{
unsigned int mx, my;
costmap_->worldToMap(x, y, mx, my);

if (!costmap_->worldToMap(x, y, mx, my)) {
RCLCPP_WARN_THROTTLE(
logger_, *(clock_), 30000,
"The dimensions of the costmap is too small to successfully check for "
"collisions as far ahead as requested. Proceed at your own risk, slow the robot, or "
"increase your costmap size.");
return false;
}

unsigned char cost = costmap_->getCost(mx, my);

Expand All @@ -450,7 +459,16 @@ bool RegulatedPurePursuitController::inCollision(const double & x, const double
double RegulatedPurePursuitController::costAtPose(const double & x, const double & y)
{
unsigned int mx, my;
costmap_->worldToMap(x, y, mx, my);

if (!costmap_->worldToMap(x, y, mx, my)) {
RCLCPP_FATAL(
logger_,
"The dimensions of the costmap is too small to fully include your robot's footprint, "
"thusly the robot cannot proceed further");
throw nav2_core::PlannerException(
"RegulatedPurePursuitController: Dimensions of the costmap are too small "
"to encapsulate the robot footprint at current speeds!");
}

unsigned char cost = costmap_->getCost(mx, my);
return static_cast<double>(cost);
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