new scorecritic single msg

nav2_mppi_controller/CMakeLists.txt

@@ -45,6 +45,7 @@ endforeach()
 nav2_package()
 
 rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/CriticScore.msg"
   "msg/CriticScores.msg"
   DEPENDENCIES std_msgs
 )

nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp

@@ -23,6 +23,7 @@
 #include "nav2_mppi_controller/tools/trajectory_visualizer.hpp"
 #include "nav2_mppi_controller/models/constraints.hpp"
 #include "nav2_mppi_controller/tools/utils.hpp"
+#include "nav2_mppi_controller/msg/critic_score.hpp"
 #include "nav2_mppi_controller/msg/critic_scores.hpp"
 
 #include "nav2_core/controller.hpp"

nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp

@@ -69,8 +69,6 @@ class CriticManager
     */
   void evalTrajectoriesScores(CriticData & data) const;
 
-  xt::xtensor<float, 1> evalTrajectory(CriticData & data) const;
-
   std::vector<std::string> getCriticNames() const;
 
 protected:

nav2_mppi_controller/msg/CriticScore.msg

@@ -0,0 +1,2 @@
+std_msgs/String name
+std_msgs/Float32 score

nav2_mppi_controller/msg/CriticScores.msg

@@ -1,3 +1,4 @@
 std_msgs/Header header    # ROS time that this log message was sent.
-std_msgs/String[] critic_names
-std_msgs/Float32[] critic_scores
+CriticScore[] critic_scores
+# std_msgs/String[] critic_names
+# std_msgs/Float32[] critic_scores

nav2_mppi_controller/src/controller.cpp

@@ -67,15 +67,15 @@ void MPPIController::cleanup()
 
 void MPPIController::activate()
 {
-  critics_publisher_->on_activate();
+  if (publish_critics_) critics_publisher_->on_activate();
   trajectory_visualizer_.on_activate();
   parameters_handler_->start();
   RCLCPP_INFO(logger_, "Activated MPPI Controller: %s", name_.c_str());
 }
 
 void MPPIController::deactivate()
 {
-  critics_publisher_->on_deactivate();
+  if (publish_critics_) critics_publisher_->on_deactivate();
   trajectory_visualizer_.on_deactivate();
   RCLCPP_INFO(logger_, "Deactivated MPPI Controller: %s", name_.c_str());
 }
@@ -124,20 +124,26 @@ geometry_msgs::msg::TwistStamped MPPIController::computeVelocityCommands(
 
     // log critic names and costs
     for (size_t i = 0; i < critic_names.size(); i++) {
-      RCLCPP_INFO(logger_, "Critic: %s, Cost: %f", critic_names[i].c_str(), critic_costs[i]);
+      RCLCPP_DEBUG(logger_, "Critic: %s, Cost: %f", critic_names[i].c_str(), critic_costs[i]);
     }
 
     // make msg
     auto critic_scores_ = std::make_unique<nav2_mppi_controller::msg::CriticScores>();
-    for (size_t i = 0; i < critic_names.size(); i++) {
-      std_msgs::msg::String name_msg;
-      name_msg.data = critic_names[i];
-      critic_scores_->critic_names.push_back(std::move(name_msg));
+    if (critic_names.size() != critic_costs.size()) {
+      RCLCPP_ERROR(
+        logger_,
+        "Critic names %ld and costs %ld size mismatch!",
+        critic_names.size(), critic_costs.size());
+      return cmd;
+    }
 
-      std_msgs::msg::Float32 cost_msg;
-      cost_msg.data = critic_costs[i];
-      critic_scores_->critic_scores.push_back(std::move(cost_msg));
+    for (size_t i = 0; i < critic_names.size(); i++) {
+      nav2_mppi_controller::msg::CriticScore critic_score;
+      critic_score.name.data = critic_names[i];
+      critic_score.score.data = critic_costs[i];
+      critic_scores_->critic_scores.push_back(critic_score);
     }
+
     critic_scores_->header.stamp = clock_->now();
     critics_publisher_->publish(std::move(critic_scores_));
   }

nav2_mppi_controller/src/critic_manager.cpp

@@ -81,28 +81,4 @@ void CriticManager::evalTrajectoriesScores(
     critics_[q]->score(data);
   }
 }
-
-xt::xtensor<float, 1> CriticManager::evalTrajectory(
-  CriticData & data) const
-{
-  // log the critic_scores shape
-  RCLCPP_INFO(logger_, "(BEFORE FOR)");
-
-  xt::xtensor<float, 1> critic_scores = xt::zeros<float>({critics_.size()});
-
-  for (size_t q = 0; q < critics_.size(); q++) {
-    if (data.fail_flag) {
-      break;
-    }
-    data.costs = xt::zeros<float>({1});
-    // log costs values
-    critics_[q]->score(data);
-    critic_scores(q) = data.costs[0];
-  }
-  // log the for cycle finished in criticmanager
-  RCLCPP_INFO(logger_, "CriticManager: Critic evaluation (FOR) finished");
-
-  return critic_scores;
-}
-
 }  // namespace mppi

nav2_mppi_controller/src/optimizer.cpp

@@ -163,58 +163,39 @@ void Optimizer::optimize()
 
 xt::xtensor<float, 1> Optimizer::getOptimizationResults()
 {
+  // get the final optimized trajectory
   const xt::xtensor<float, 2> optimized_trajectory = getOptimizedTrajectory();
   xt::xtensor<float, 1> costs = xt::zeros<float>({1});
 
-  /*auto size = optimized_trajectory.size();     // size = 6
-  auto dim = optimized_trajectory.dimension(); // dim = 2
-  auto shape = optimized_trajectory.shape();   // shape = {2, 3}
-
-  //log size, dim, and shape
-  RCLCPP_INFO(
-    logger_, "getOptimizedTrajectory() size: %ld, dim: %ld, shape: {%ld, %ld}",
-    size, dim, shape[0], shape[1]);*/
-
+  // evalTrajectory evals multiple trajectories, but we only have one
+  // create a dummy_trajectories object and put the optimized in it
   models::Trajectories dummy_trajectories;
-  /*size = dummy_trajectories.x.size();
-  dim = dummy_trajectories.x.dimension();
-  shape = dummy_trajectories.x.shape();
-  RCLCPP_INFO(
-    logger_, "[after creation] dummy_trajectories size: %ld, dim: %ld, shape: {%ld, %ld}",
-    size, dim, shape[0], shape[1]);*/
-
   dummy_trajectories.reset(1, settings_.time_steps);
-  /*size = dummy_trajectories.x.size();
-  dim = dummy_trajectories.x.dimension();
-  shape = dummy_trajectories.x.shape();
-  RCLCPP_INFO(
-    logger_, "[after reset] dummy_trajectories size: %ld, dim: %ld, shape: {%ld, %ld}",
-    size, dim, shape[0], shape[1]);*/
-
   dummy_trajectories.x += xt::view(optimized_trajectory, xt::all(), 0);
   dummy_trajectories.y += xt::view(optimized_trajectory, xt::all(), 1);
   dummy_trajectories.yaws += xt::view(optimized_trajectory, xt::all(), 2);
 
-  /*size = dummy_trajectories.x.size();
-  dim = dummy_trajectories.x.dimension();
-  shape = dummy_trajectories.x.shape();
-  RCLCPP_INFO(
-    logger_, "[after valuedump] dummy_trajectories size: %ld, dim: %ld, shape: {%ld, %ld}",
-    size, dim, shape[0], shape[1]);*/
-
+  // create a dummy_data object to pass to evalTrajectory
   CriticData dummy_data = {
     state_, dummy_trajectories, path_, costs, settings_.model_dt,
     false, critics_data_.goal_checker, critics_data_.motion_model, std::nullopt, std::nullopt};
-  // dummy_data.goal_checker = critics_data_.goal_checker;
-  // dummy_data.motion_model = critics_data_.motion_model;
   dummy_data.furthest_reached_path_point.reset();
   dummy_data.path_pts_valid.reset();
 
-  /*RCLCPP_INFO(
-    logger_, "dummy_data type: %s",
-    typeid(dummy_data).name());*/
+  // use evalTrajectoriesScores
+  critic_manager_.evalTrajectoriesScores(dummy_data);
+
+  size_t num_critics = critic_manager_.getCriticNames().size();
+
+  xt::xtensor<float, 1> critic_scores = xt::zeros<float>(std::vector<size_t>{num_critics});
+  for (size_t i = 0; i < num_critics; i++) {
+    critic_scores(i) = dummy_data.costs(0);  // Assuming costs are updated for each critic
+  }
+
+  return critic_scores;
 
-  return critic_manager_.evalTrajectory(dummy_data);
+  // evaluate the optimized trajectory
+  // return critic_manager_.evalTrajectory(dummy_data);
 }
 
 std::vector<std::string> Optimizer::getCriticNames() const
@@ -496,7 +477,7 @@ void Optimizer::setSpeedLimit(double speed_limit, bool percentage)
       s.constraints.vx_min = s.base_constraints.vx_min * ratio;
       s.constraints.vy = s.base_constraints.vy * ratio;
       s.constraints.wz = s.base_constraints.wz * ratio;
-    } else {
+    } else if (speed_limit < s.base_constraints.vx_max) {
       // Speed limit is expressed in absolute value
       double ratio = speed_limit / s.base_constraints.vx_max;
       s.constraints.vx_max = s.base_constraints.vx_max * ratio;