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[MPPI] Fix transformed path oscillations #3443

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merged 5 commits into from
Mar 7, 2023
Merged

[MPPI] Fix transformed path oscillations #3443

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b31bd4c
use path distance instead of euclidean for upper bound search
Mar 2, 2023
eddd8e5
rename to pruned_plan_end
Mar 6, 2023
8359f66
rename to pruned_plan_end
Mar 6, 2023
63f31d1
fix tests
Mar 6, 2023
92c2087
do not use prune_distance to limit the search for the closest pose
Mar 7, 2023
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16 changes: 8 additions & 8 deletions nav2_mppi_controller/src/path_handler.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -44,8 +44,8 @@ PathHandler::getGlobalPlanConsideringBoundsInCostmapFrame(
using nav2_util::geometry_utils::euclidean_distance;

auto begin = global_plan_.poses.begin();
auto end = global_plan_.poses.end();

// Limit the search for the closest pose up to max_robot_pose_search_dist on the path
auto closest_pose_upper_bound =
nav2_util::geometry_utils::first_after_integrated_distance(
global_plan_.poses.begin(), global_plan_.poses.end(), max_robot_pose_search_dist_);
Expand All @@ -61,17 +61,17 @@ PathHandler::getGlobalPlanConsideringBoundsInCostmapFrame(
transformed_plan.header.frame_id = costmap_->getGlobalFrameID();
transformed_plan.header.stamp = global_pose.header.stamp;

auto pruned_plan_end =
nav2_util::geometry_utils::first_after_integrated_distance(
closest_point, global_plan_.poses.end(), prune_distance_);

unsigned int mx, my;
// Find the furthest relevent pose on the path to consider within costmap
// bounds
// Transforming it to the costmap frame in the same loop
for (auto global_plan_pose = closest_point; global_plan_pose != end; ++global_plan_pose) {
// Distance relative to robot pose check
auto distance = euclidean_distance(global_pose, *global_plan_pose);
if (distance >= prune_distance_) {
return {transformed_plan, closest_point};
}

for (auto global_plan_pose = closest_point; global_plan_pose != pruned_plan_end;
++global_plan_pose)
{
// Transform from global plan frame to costmap frame
geometry_msgs::msg::PoseStamped costmap_plan_pose;
global_plan_pose->header.stamp = global_pose.header.stamp;
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