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Constrained Smoother tuning #3341

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Jan 12, 2023
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Constrained Smoother tuning #3341

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2 changes: 1 addition & 1 deletion nav2_constrained_smoother/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,7 @@ smoother_server:
minimum_turning_radius: 0.40 # minimum turning radius the robot can perform. Can be set to 0.0 (or w_curve can be set to 0.0 with the same effect) for diff-drive/holonomic robots
w_curve: 30.0 # weight to enforce minimum_turning_radius
w_dist: 0.0 # weight to bind path to original as optional replacement for cost weight
w_smooth: 15000.0 # weight to maximize smoothness of path
w_smooth: 2000000.0 # weight to maximize smoothness of path
w_cost: 0.015 # weight to steer robot away from collision and cost

# Parameters used to improve obstacle avoidance near cusps (forward/reverse movement changes)
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2 changes: 1 addition & 1 deletion nav2_constrained_smoother/include/nav2_constrained_smoother/options.hpp
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Expand Up @@ -72,7 +72,7 @@ struct SmootherParams
node, local_name + "w_dist", rclcpp::ParameterValue(0.0));
node->get_parameter(local_name + "w_dist", distance_weight);
nav2_util::declare_parameter_if_not_declared(
node, local_name + "w_smooth", rclcpp::ParameterValue(15000.0));
node, local_name + "w_smooth", rclcpp::ParameterValue(2000000.0));
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@SteveMacenski SteveMacenski Jan 2, 2023 •
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Docs update to match changes on the website?

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Sure, if you are OK with w_smooth 2M new value (and also with this change in general), I'll submit a new doc update PR.

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Please do

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Done: ros-navigation/docs.nav2.org#385. Seems to be mentioned only on two places, there is no tutorials or something else needed to be updated.

node->get_parameter(local_name + "w_smooth", smooth_weight);
nav2_util::declare_parameter_if_not_declared(
node, local_name + "cost_check_points", rclcpp::ParameterValue(std::vector<double>()));
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25 changes: 13 additions & 12 deletions nav2_constrained_smoother/test/test_constrained_smoother.cpp
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Expand Up @@ -59,7 +59,7 @@ class DummyCostmapSubscriber : public nav2_costmap_2d::CostmapSubscriber
for (int j = 40; j < 100; ++j) {
int dist_x = std::max(0, std::max(60 - j, j - 80));
int dist_y = std::max(0, std::max(30 - i, i - 40));
double dist = sqrt(dist_x * dist_x + dist_y * dist_y);
double dist = sqrt(dist_x * dist_x + dist_y * dist_y) * costmap->metadata.resolution;
unsigned char cost;
if (dist == 0) {
cost = nav2_costmap_2d::LETHAL_OBSTACLE;
Expand All @@ -68,7 +68,7 @@ class DummyCostmapSubscriber : public nav2_costmap_2d::CostmapSubscriber
} else {
double factor =
exp(
-1.0 * cost_scaling_factor * (dist * costmap->metadata.resolution - inscribed_radius));
-1.0 * cost_scaling_factor * (dist - inscribed_radius));
cost =
static_cast<unsigned char>((nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE - 1) * factor);
}
Expand Down Expand Up @@ -141,7 +141,7 @@ class SmootherTest : public ::testing::Test
std::shared_ptr<nav2_costmap_2d::FootprintSubscriber>());
smoother_->activate();

node_lifecycle_->set_parameter(rclcpp::Parameter("SmoothPath.w_smooth", 15000.0));
node_lifecycle_->set_parameter(rclcpp::Parameter("SmoothPath.w_smooth", 2000000.0));
node_lifecycle_->set_parameter(rclcpp::Parameter("SmoothPath.minimum_turning_radius", 0.4));
node_lifecycle_->set_parameter(rclcpp::Parameter("SmoothPath.w_curve", 30.0));
node_lifecycle_->set_parameter(rclcpp::Parameter("SmoothPath.w_dist", 0.0));
Expand Down Expand Up @@ -614,7 +614,7 @@ TEST_F(SmootherTest, testingObstacleAvoidance)
footprint.push_back(pointMsg(-0.4, -0.25));
footprint.push_back(pointMsg(0.4, -0.25));

node_lifecycle_->set_parameter(rclcpp::Parameter("SmoothPath.w_smooth", 15000.0));
node_lifecycle_->set_parameter(rclcpp::Parameter("SmoothPath.w_smooth", 2000000.0));
node_lifecycle_->set_parameter(rclcpp::Parameter("SmoothPath.w_cost", 0.015));
reloadParams();

Expand Down Expand Up @@ -644,7 +644,7 @@ TEST_F(SmootherTest, testingObstacleAvoidance)
straight_near_obstacle, smoothed_path,
cost_avoidance_criterion);
EXPECT_GT(cost_avoidance_improvement, 0.0);
EXPECT_NEAR(cost_avoidance_improvement, 12.9, 1.0);
EXPECT_NEAR(cost_avoidance_improvement, 9.4, 1.0);
}

TEST_F(SmootherTest, testingObstacleAvoidanceNearCusps)
Expand Down Expand Up @@ -723,6 +723,7 @@ TEST_F(SmootherTest, testingObstacleAvoidanceNearCusps)
footprint.push_back(pointMsg(0.4, -0.2));

// first smooth with homogeneous w_cost to compare
node_lifecycle_->set_parameter(rclcpp::Parameter("SmoothPath.w_smooth", 15000.0));
node_lifecycle_->set_parameter(rclcpp::Parameter("SmoothPath.w_cost", 0.015));
// higher w_curve significantly decreases convergence speed here
// path feasibility can be restored by subsequent resmoothing with higher w_curve
Expand Down Expand Up @@ -809,7 +810,7 @@ TEST_F(SmootherTest, testingObstacleAvoidanceNearCusps)
footprint.push_back(pointMsg(0.15, -0.2));

// reset parameters back to homogeneous and shift cost check point to the center of the footprint
node_lifecycle_->set_parameter(rclcpp::Parameter("SmoothPath.w_smooth", 15000));
node_lifecycle_->set_parameter(rclcpp::Parameter("SmoothPath.w_smooth", 15000.0));
node_lifecycle_->set_parameter(rclcpp::Parameter("SmoothPath.w_curve", 1.0));
node_lifecycle_->set_parameter(rclcpp::Parameter("SmoothPath.w_cost", 0.015));
node_lifecycle_->set_parameter(rclcpp::Parameter("SmoothPath.cusp_zone_length", -1.0));
Expand Down Expand Up @@ -995,7 +996,7 @@ TEST_F(SmootherTest, testingDownsamplingUpsampling)
&mvmt_smoothness_criterion_out);
// more poses -> smoother path
EXPECT_GT(smoothness_improvement, 0.0);
EXPECT_NEAR(smoothness_improvement, 65.7, 1.0);
EXPECT_NEAR(smoothness_improvement, 63.9, 1.0);

// upsample above original size
node_lifecycle_->set_parameter(rclcpp::Parameter("SmoothPath.path_upsampling_factor", 2));
Expand All @@ -1010,7 +1011,7 @@ TEST_F(SmootherTest, testingDownsamplingUpsampling)
&mvmt_smoothness_criterion_out);
// even more poses -> even smoother path
EXPECT_GT(smoothness_improvement, 0.0);
EXPECT_NEAR(smoothness_improvement, 83.7, 1.0);
EXPECT_NEAR(smoothness_improvement, 82.2, 1.0);
}

TEST_F(SmootherTest, testingStartGoalOrientations)
Expand All @@ -1032,7 +1033,7 @@ TEST_F(SmootherTest, testingStartGoalOrientations)
double mvmt_smoothness_improvement =
assessPathImprovement(sharp_turn_90, smoothed_path, mvmt_smoothness_criterion_);
EXPECT_GT(mvmt_smoothness_improvement, 0.0);
EXPECT_NEAR(mvmt_smoothness_improvement, 53.3, 1.0);
EXPECT_NEAR(mvmt_smoothness_improvement, 55.2, 1.0);
// no change in orientations
EXPECT_NEAR(smoothed_path.front()[2], 0, 0.001);
EXPECT_NEAR(smoothed_path.back()[2], M_PI / 2, 0.001);
Expand All @@ -1049,10 +1050,10 @@ TEST_F(SmootherTest, testingStartGoalOrientations)
mvmt_smoothness_improvement =
assessPathImprovement(smoothed_path, smoothed_path_sg_overwritten, mvmt_smoothness_criterion_);
EXPECT_GT(mvmt_smoothness_improvement, 0.0);
EXPECT_NEAR(mvmt_smoothness_improvement, 98.3, 1.0);
EXPECT_NEAR(mvmt_smoothness_improvement, 58.9, 1.0);
// orientations adjusted to follow the path
EXPECT_NEAR(smoothed_path_sg_overwritten.front()[2], M_PI / 4, 0.1);
EXPECT_NEAR(smoothed_path_sg_overwritten.back()[2], M_PI / 4, 0.1);
EXPECT_NEAR(smoothed_path_sg_overwritten.front()[2], M_PI / 8, 0.1);
EXPECT_NEAR(smoothed_path_sg_overwritten.back()[2], 3 * M_PI / 8, 0.1);

// test short paths
std::vector<Eigen::Vector3d> short_screwed_path =
Expand Down