Humble backport of MPPI controller

.circleci/config.yml

@@ -33,12 +33,12 @@ _commands:
  - restore_cache:
  name: Restore Cache << parameters.key >>
  keys:
- - "<< parameters.key >>-v12\
+ - "<< parameters.key >>-v13\
  -{{ arch }}\
  -{{ .Branch }}\
  -{{ .Environment.CIRCLE_PR_NUMBER }}\
  -{{ checksum \"<< parameters.workspace >>/lockfile.txt\" }}"
- - "<< parameters.key >>-v12\
+ - "<< parameters.key >>-v13\
  -{{ arch }}\
  -main\
  -<no value>\
@@ -58,7 +58,7 @@ _commands:
  steps:
  - save_cache:
  name: Save Cache << parameters.key >>
- key: "<< parameters.key >>-v12\
+ key: "<< parameters.key >>-v13\
  -{{ arch }}\
  -{{ .Branch }}\
  -{{ .Environment.CIRCLE_PR_NUMBER }}\
@@ -453,6 +453,7 @@ executors:
  release_exec:
  docker:
  - image: ghcr.io/ros-planning/navigation2:main
+ resource_class: large
  working_directory: /opt/overlay_ws
  environment:
  <<: *common_environment

.circleci/defaults.yaml

@@ -6,7 +6,7 @@ _common: &common
 "build":
  <<: *common
  "executor": "parallel"
- "parallel-workers": 2
+ "parallel-workers": 4
  "symlink-install": true
 "test":
  <<: *common

codecov.yml

@@ -7,3 +7,7 @@ ignore:
  - "*/test/**/*" # ignore package test directories, e.g. nav2_costmap_2d/tests
  - "**/test_*.*" # ignore files starting with test_ e.g. nav2_map_server/test/test_constants.cpp
  - "**/*_tests.*" # ignore files ending with _tests e.g. nav2_voxel_grid/test/voxel_grid_tests.cpp
+ - "*/**/benchmark/*" # ignore package test directories, e.g. nav2_dwb_controller/costmap_queue/tests
+ - "*/benchmark/**/*" # ignore package test directories, e.g. nav2_costmap_2d/tests
+ - "**/benchmark_*.*" # ignore files starting with test_ e.g. nav2_map_server/test/test_constants.cpp
+ - "**/*_benchmark.*" # ignore files ending with _tests e.g. nav2_voxel_grid/test/voxel_grid_tests.cpp

nav2_mppi_controller/CMakeLists.txt

@@ -0,0 +1,93 @@
+cmake_minimum_required(VERSION 3.5)
+project(nav2_mppi_controller)
+
+add_definitions(-DXTENSOR_ENABLE_XSIMD)
+add_definitions(-DXTENSOR_USE_XSIMD)
+
+set(XTENSOR_USE_TBB 0)
+set(XTENSOR_USE_OPENMP 0)
+
+
+find_package(ament_cmake REQUIRED)
+find_package(xtensor REQUIRED)
+
+set(dependencies_pkgs
+ rclcpp
+ nav2_common
+ pluginlib
+ tf2
+ geometry_msgs
+ visualization_msgs
+ nav_msgs
+ nav2_core
+ nav2_costmap_2d
+ nav2_util
+ tf2_geometry_msgs
+ tf2_eigen
+ tf2_ros
+)
+
+foreach(pkg IN LISTS dependencies_pkgs)
+ find_package(${pkg} REQUIRED)
+endforeach()
+
+nav2_package()
+add_compile_options(-O3 -mavx2 -mfma -finline-limit=1000000 -ffp-contract=fast -ffast-math)
+
+add_library(mppi_controller SHARED
+ src/controller.cpp
+ src/optimizer.cpp
+ src/critic_manager.cpp
+ src/trajectory_visualizer.cpp
+ src/path_handler.cpp
+ src/parameters_handler.cpp
+ src/noise_generator.cpp
+)
+
+add_library(mppi_critics SHARED
+ src/critics/obstacles_critic.cpp
+ src/critics/goal_critic.cpp
+ src/critics/goal_angle_critic.cpp
+ src/critics/path_align_critic.cpp
+ src/critics/path_follow_critic.cpp
+ src/critics/path_angle_critic.cpp
+ src/critics/prefer_forward_critic.cpp
+ src/critics/twirling_critic.cpp
+ src/critics/constraint_critic.cpp
+)
+
+set(libraries mppi_controller mppi_critics)
+
+foreach(lib IN LISTS libraries)
+ target_compile_options(${lib} PUBLIC -fconcepts)
+ target_include_directories(${lib} PUBLIC include ${xsimd_INCLUDE_DIRS} ${OpenMP_INCLUDE_DIRS})
+ target_link_libraries(${lib} xtensor xtensor::optimize xtensor::use_xsimd)
+ ament_target_dependencies(${lib} ${dependencies_pkgs})
+endforeach()
+
+install(TARGETS mppi_controller mppi_critics
+ ARCHIVE DESTINATION lib
+ LIBRARY DESTINATION lib
+ RUNTIME DESTINATION bin
+)
+
+install(DIRECTORY include/
+ DESTINATION include/
+)
+
+if(BUILD_TESTING)
+ find_package(ament_lint_auto REQUIRED)
+ find_package(ament_cmake_gtest REQUIRED)
+ set(ament_cmake_copyright_FOUND TRUE)
+ ament_lint_auto_find_test_dependencies()
+ add_subdirectory(test)
+ # add_subdirectory(benchmark)
+endif()
+
+ament_export_libraries(${libraries})
+ament_export_dependencies(${dependencies_pkgs})
+ament_export_include_directories(include)
+pluginlib_export_plugin_description_file(nav2_core mppic.xml)
+pluginlib_export_plugin_description_file(nav2_mppi_controller critics.xml)
+
+ament_package()

nav2_mppi_controller/LICENSE.md

@@ -0,0 +1,22 @@
+MIT License
+
+Copyright (c) 2021-2022 Fast Sense Studio
+Copyright (c) 2022-2023 Samsung Research America
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.