Comments (5)
rayvburn
commented on July 28, 2024
ref:
cs.cmu.edu: AMRobots3- Fig 3.1 ***usna.edu: Mobile Robot Kinematics
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rayvburn
commented on July 28, 2024
note: costmap_converter's output for dynamic obstacles consists of velocity in global reference frame (i.e. x, y, z = 0)
reference: source code:
from humap_local_planner.
rayvburn
commented on July 28, 2024
since yaw extraction directly from ignition::math::Pose3d was totally wrong, SFM takes new hubero_common::converter's function: yawFromPose. Linking currently somehow does not work:
Update:
TODO: stash and test
from humap_local_planner.
rayvburn
commented on July 28, 2024
inlined function implementation in converter.h works properly
latest log:
[ INFO] [1618775799.256538955, 15.856000000]: [HuberoPlannerROS] obstacleContainerUpdate - obstacles 15
HuberoPlanner::compute - ROSy - yaw: -0.961216 / converted: r: -0.961216 p: -0 y: 3.14159
VELOCITY BASE : x: 0.1345, y: 0.0000, yaw: -0.0833 (yaw: -0.9612, sin(yaw): -0.8199, cos(yaw): 0.5725)
VELOCITY GLOBAL: x: 0.0770, y: -0.1103, yaw: 0.0000
yawFromIgnPose @ computeNormalAlphaDirection : -0.961216
yawFromIgnPose @ computeInteractionForce : -0.961216
yawFromIgnPose @ computeNormalAlphaDirection : -0.961216
yawFromIgnPose @ computeInteractionForce : -0.961216
yawFromIgnPose @ computeNormalAlphaDirection : -0.961216
yawFromIgnPose @ computeInteractionForce : -0.961216
yawFromIgnPose @ computeNormalAlphaDirection : -0.961216
yawFromIgnPose @ computeInteractionForce : -0.961216
yawFromIgnPose @ computeNormalAlphaDirection : -0.961216
yawFromIgnPose @ computeInteractionForce : -0.961216
yawFromIgnPose @ computeNormalAlphaDirection : -0.961216
yawFromIgnPose @ computeInteractionForce : -0.961216
yawFromIgnPose @ computeNormalAlphaDirection : -0.961216
yawFromIgnPose @ computeInteractionForce : -0.961216
yawFromIgnPose @ computeNormalAlphaDirection : -0.961216
yawFromIgnPose @ computeInteractionForce : -0.961216
yawFromIgnPose @ computeNormalAlphaDirection : -0.961216
yawFromIgnPose @ computeInteractionForce : -0.961216
yawFromIgnPose @ computeNormalAlphaDirection : -0.961216
yawFromIgnPose @ computeInteractionForce : -0.961216
yawFromIgnPose @ computeNormalAlphaDirection : -0.961216
yawFromIgnPose @ computeInteractionForce : -0.961216
yawFromIgnPose @ computeNormalAlphaDirection : -0.961216
yawFromIgnPose @ computeInteractionForce : -0.961216
yawFromIgnPose @ computeNormalAlphaDirection : -0.961216
yawFromIgnPose @ computeInteractionForce : -0.961216
yawFromIgnPose @ computeNormalAlphaDirection : -0.961216
yawFromIgnPose @ computeInteractionForce : -0.961216
yawFromIgnPose @ computeNormalAlphaDirection : -0.961216
yawFromIgnPose @ computeInteractionForce : -0.961216
computeTwist(): force orient: -94.8915, base link orient: -55.0736, diff: -39.8179
computeTwist(): angular = -0.1281 (max = 2.0000), linear = 0.1152 (max = 1.5000)
yawFromIgnPose @ computeNormalAlphaDirection : 0
yawFromIgnPose @ computeInteractionForce : 0
yawFromIgnPose @ computeNormalAlphaDirection : 0
yawFromIgnPose @ computeInteractionForce : 0
yawFromIgnPose @ computeNormalAlphaDirection : 0
yawFromIgnPose @ computeInteractionForce : 0
yawFromIgnPose @ computeNormalAlphaDirection : 0
yawFromIgnPose @ computeInteractionForce : 0
from humap_local_planner.
rayvburn
commented on July 28, 2024
What actually helped develop the solution is:
- global -> local velocities: slide 38 @ https://www.cs.princeton.edu/courses/archive/fall11/cos495/COS495-Lecture3-RobotMotion.pdf
- force -> twist command: code https://github.com/yinzixuan126/modified_dwa/blob/b379c01e37adc1f6414005750633b05e1a024ae5/iri_navigation/iri_akp_local_planner_companion/local_lib/src/scene_elements/robot.cpp#L91
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Related Issues (20)
- adjust `getPoseFromPlan` method of the planner HOT 1
- Goal pose gradually moved away by small distances does not get updated
- consider adding `SlowMovementCostFunction` HOT 5
- Update default parameter values in the `Config` struct according to the `dynamic_reconfigure` setup
- consider adding `ObstacleSeparationCostFunction` HOT 3
- consider assigning negative TTC cost to trajectories that will cause collision in the first prediction step
- do not switch state from `Adjust` to `Init` when the goal is closer than double `xy_tolerance` HOT 2
- `CostParams` struct cleanup
- investigate memory corruption errors HOT 1
- try to improve a robot behaviour when entering narrow passages (e.g., doors)
- investigate source of invalid `relative location` in Trapezoids HOT 2
- unhandled case in `TrapezoidParted`
- consider copying objects of the sparse environment model to avoid using mutexes for the whole planning procedure HOT 3
- parameterize cost functions to evaluate the whole trajectory vs only the first step
- fix `ros::TimeNotInitializedException` in unit tests
- prepare Turtlebot example
- Add a recovery behaviour once the global plan has not been updated for N planning periods HOT 1
- consider extending the `PathCrossingDetector` with the analysis of the global path plan
- consider recalculating `occdist_scale` dynamically to increase the clearance from obstacles when the robot is far from the goal
- decouple prediction and planning
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