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Add allow_unknown parameter to theta star planner #3286

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merged 5 commits into from
Nov 16, 2022
Merged

Add allow_unknown parameter to theta star planner #3286

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33dafae
Add allow unknown parameter to theta star planner
pepisg Nov 15, 2022
33dfb23
Add allow unknown parameter to tests
pepisg Nov 16, 2022
0638bed
missing comma
pepisg Nov 16, 2022
f4a16da
Change cost of unknown tiles
pepisg Nov 16, 2022
198078d
Uncrustify
pepisg Nov 16, 2022
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13 changes: 11 additions & 2 deletions nav2_theta_star_planner/include/nav2_theta_star_planner/theta_star.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,8 @@
#include "nav2_costmap_2d/costmap_2d_ros.hpp"

const double INF_COST = DBL_MAX;
const int UNKNOWN_COST = 255;
const int OBS_COST = 254;
const int LETHAL_COST = 252;

struct coordsM
Expand Down Expand Up @@ -70,6 +72,8 @@ class ThetaStar
double w_heuristic_cost_;
/// parameter to set the number of adjacent nodes to be searched on
int how_many_corners_;
/// parameter to set weather the planner can plan through unknown space
bool allow_unknown_;
/// the x-directional and y-directional lengths of the map respectively
int size_x_, size_y_;

Expand All @@ -91,7 +95,9 @@ class ThetaStar
*/
inline bool isSafe(const int & cx, const int & cy) const
{
return costmap_->getCost(cx, cy) < LETHAL_COST;
return (costmap_->getCost(
cx,
cy) == UNKNOWN_COST && allow_unknown_) || costmap_->getCost(cx, cy) < LETHAL_COST;
}

/**
Expand Down Expand Up @@ -185,7 +191,10 @@ class ThetaStar
bool isSafe(const int & cx, const int & cy, double & cost) const
{
double curr_cost = getCost(cx, cy);
if (curr_cost < LETHAL_COST) {
if ((costmap_->getCost(cx, cy) == UNKNOWN_COST && allow_unknown_) || curr_cost < LETHAL_COST) {
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@pepisg pepisg Nov 15, 2022 •
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not sure if a different cost should be considered for the planning itself when the cell is unknown rather than using the maximum (which if I understand correctly would penalize unknown tiles the same way as obstacles). What do you think @SteveMacenski ?

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Look at what NavFn does with this value and you can copy that methodology here

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just to confirm, that is setting it to the obstacle cost - 1?

if (costmap_->getCost(cx, cy) == UNKNOWN_COST) {
curr_cost = OBS_COST - 1;
}
cost += w_traversal_cost_ * curr_cost * curr_cost / LETHAL_COST / LETHAL_COST;
return true;
} else {
Expand Down
1 change: 1 addition & 0 deletions nav2_theta_star_planner/src/theta_star.cpp
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Expand Up @@ -23,6 +23,7 @@ ThetaStar::ThetaStar()
w_euc_cost_(2.0),
w_heuristic_cost_(1.0),
how_many_corners_(8),
allow_unknown_(true),
size_x_(0),
size_y_(0),
index_generated_(0)
Expand Down
6 changes: 6 additions & 0 deletions nav2_theta_star_planner/src/theta_star_planner.cpp
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Expand Up @@ -45,6 +45,10 @@ void ThetaStarPlanner::configure(
RCLCPP_WARN(logger_, "Your value for - .how_many_corners was overridden, and is now set to 8");
}

nav2_util::declare_parameter_if_not_declared(
node, name_ + ".allow_unknown", rclcpp::ParameterValue(true));
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node->get_parameter(name_ + ".allow_unknown", planner_->allow_unknown_);

nav2_util::declare_parameter_if_not_declared(
node, name_ + ".w_euc_cost", rclcpp::ParameterValue(1.0));
node->get_parameter(name_ + ".w_euc_cost", planner_->w_euc_cost_);
Expand Down Expand Up @@ -237,6 +241,8 @@ ThetaStarPlanner::dynamicParametersCallback(std::vector<rclcpp::Parameter> param
} else if (type == ParameterType::PARAMETER_BOOL) {
if (name == name_ + ".use_final_approach_orientation") {
use_final_approach_orientation_ = parameter.as_bool();
} else if (name == name_ + ".allow_unknown") {
planner_->allow_unknown_ = parameter.as_bool();
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}
}
}
Expand Down
4 changes: 3 additions & 1 deletion nav2_theta_star_planner/test/test_theta_star.cpp
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Expand Up @@ -212,7 +212,8 @@ TEST(ThetaStarPlanner, test_theta_star_reconfigure)
{rclcpp::Parameter("test.how_many_corners", 8),
rclcpp::Parameter("test.w_euc_cost", 1.0),
rclcpp::Parameter("test.w_traversal_cost", 2.0),
rclcpp::Parameter("test.use_final_approach_orientation", false)});
rclcpp::Parameter("test.use_final_approach_orientation", false),
rclcpp::Parameter("test.allow_unknown", false)});

rclcpp::spin_until_future_complete(
life_node->get_node_base_interface(),
Expand All @@ -224,6 +225,7 @@ TEST(ThetaStarPlanner, test_theta_star_reconfigure)
1.0);
EXPECT_EQ(life_node->get_parameter("test.w_traversal_cost").as_double(), 2.0);
EXPECT_EQ(life_node->get_parameter("test.use_final_approach_orientation").as_bool(), false);
EXPECT_EQ(life_node->get_parameter("test.allow_unknown").as_bool(), false);

rclcpp::spin_until_future_complete(
life_node->get_node_base_interface(),
Expand Down