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Fix velocities comparison for rotation at place case #3177

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merged 4 commits into from
Sep 9, 2022
Merged

Fix velocities comparison for rotation at place case #3177

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6e54086
Fix velocities comparison for rotation at place case
AlexeyMerzlyakov Sep 7, 2022
0325388
Meet review item
AlexeyMerzlyakov Sep 8, 2022
d0358bb
Remove unnecessary header
AlexeyMerzlyakov Sep 8, 2022
32bcf9e
Change the comment
AlexeyMerzlyakov Sep 9, 2022
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12 changes: 11 additions & 1 deletion nav2_collision_monitor/include/nav2_collision_monitor/types.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,8 @@
#ifndef NAV2_COLLISION_MONITOR__TYPES_HPP_
#define NAV2_COLLISION_MONITOR__TYPES_HPP_

#include <cmath>

namespace nav2_collision_monitor
{

Expand All @@ -29,7 +31,15 @@ struct Velocity
{
const double first_vel = x * x + y * y;
const double second_vel = second.x * second.x + second.y * second.y;
return first_vel < second_vel;
if (second_vel > 0.0) {
// Robot moves: comparing velocities. In Collision Monitor
// twists will change proportionally to linear velocities.
// We do not need to compare them in this case.
return first_vel < second_vel;
} else {
// Robot is already stays in place. We need to compare twists.
return std::fabs(tw) < std::fabs(second.tw);
}
}

inline Velocity operator*(const double & mul) const
Expand Down
128 changes: 119 additions & 9 deletions nav2_collision_monitor/test/collision_monitor_node_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,7 @@
#include "sensor_msgs/msg/range.hpp"
#include "sensor_msgs/point_cloud2_iterator.hpp"
#include "geometry_msgs/msg/twist.hpp"
#include "geometry_msgs/msg/polygon_stamped.hpp"

#include "tf2_ros/transform_broadcaster.h"

Expand All @@ -38,13 +39,14 @@

using namespace std::chrono_literals;

static constexpr double EPSILON = std::numeric_limits<float>::epsilon();
static constexpr double EPSILON = 1e-5;

static const char BASE_FRAME_ID[]{"base_link"};
static const char SOURCE_FRAME_ID[]{"base_source"};
static const char ODOM_FRAME_ID[]{"odom"};
static const char CMD_VEL_IN_TOPIC[]{"cmd_vel_in"};
static const char CMD_VEL_OUT_TOPIC[]{"cmd_vel_out"};
static const char FOOTPRINT_TOPIC[]{"footprint"};
static const char SCAN_NAME[]{"Scan"};
static const char POINTCLOUD_NAME[]{"PointCloud"};
static const char RANGE_NAME[]{"Range"};
Expand Down Expand Up @@ -132,6 +134,9 @@ class Tester : public ::testing::Test
// Setting TF chains
void sendTransforms(const rclcpp::Time & stamp);

// Publish robot footprint
void publishFootprint(const double radius, const rclcpp::Time & stamp);

// Main topic/data working routines
void publishScan(const double dist, const rclcpp::Time & stamp);
void publishPointCloud(const double dist, const rclcpp::Time & stamp);
Expand All @@ -149,6 +154,9 @@ class Tester : public ::testing::Test
// CollisionMonitor node
std::shared_ptr<CollisionMonitorWrapper> cm_;

// Footprint publisher
rclcpp::Publisher<geometry_msgs::msg::PolygonStamped>::SharedPtr footprint_pub_;

// Data source publishers
rclcpp::Publisher<sensor_msgs::msg::LaserScan>::SharedPtr scan_pub_;
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr pointcloud_pub_;
Expand All @@ -165,6 +173,9 @@ Tester::Tester()
{
cm_ = std::make_shared<CollisionMonitorWrapper>();

footprint_pub_ = cm_->create_publisher<geometry_msgs::msg::PolygonStamped>(
FOOTPRINT_TOPIC, rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable());

scan_pub_ = cm_->create_publisher<sensor_msgs::msg::LaserScan>(
SCAN_NAME, rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable());
pointcloud_pub_ = cm_->create_publisher<sensor_msgs::msg::PointCloud2>(
Expand All @@ -181,6 +192,8 @@ Tester::Tester()

Tester::~Tester()
{
footprint_pub_.reset();

scan_pub_.reset();
pointcloud_pub_.reset();
range_pub_.reset();
Expand Down Expand Up @@ -236,12 +249,19 @@ void Tester::addPolygon(
cm_->set_parameter(
rclcpp::Parameter(polygon_name + ".type", "polygon"));

const std::vector<double> points {
size, size, size, -size, -size, -size, -size, size};
cm_->declare_parameter(
polygon_name + ".points", rclcpp::ParameterValue(points));
cm_->set_parameter(
rclcpp::Parameter(polygon_name + ".points", points));
if (at != "approach") {
const std::vector<double> points {
size, size, size, -size, -size, -size, -size, size};
cm_->declare_parameter(
polygon_name + ".points", rclcpp::ParameterValue(points));
cm_->set_parameter(
rclcpp::Parameter(polygon_name + ".points", points));
} else { // at == "approach"
cm_->declare_parameter(
polygon_name + ".footprint_topic", rclcpp::ParameterValue(FOOTPRINT_TOPIC));
cm_->set_parameter(
rclcpp::Parameter(polygon_name + ".footprint_topic", FOOTPRINT_TOPIC));
}
} else if (type == CIRCLE) {
cm_->declare_parameter(
polygon_name + ".type", rclcpp::ParameterValue("circle"));
Expand Down Expand Up @@ -379,6 +399,31 @@ void Tester::sendTransforms(const rclcpp::Time & stamp)
}
}

void Tester::publishFootprint(const double radius, const rclcpp::Time & stamp)
{
std::unique_ptr<geometry_msgs::msg::PolygonStamped> msg =
std::make_unique<geometry_msgs::msg::PolygonStamped>();

msg->header.frame_id = BASE_FRAME_ID;
msg->header.stamp = stamp;

geometry_msgs::msg::Point32 p;
p.x = radius;
p.y = radius;
msg->polygon.points.push_back(p);
p.x = radius;
p.y = -radius;
msg->polygon.points.push_back(p);
p.x = -radius;
p.y = -radius;
msg->polygon.points.push_back(p);
p.x = -radius;
p.y = radius;
msg->polygon.points.push_back(p);

footprint_pub_->publish(std::move(msg));
}

void Tester::publishScan(const double dist, const rclcpp::Time & stamp)
{
std::unique_ptr<sensor_msgs::msg::LaserScan> msg =
Expand Down Expand Up @@ -544,7 +589,7 @@ TEST_F(Tester, testProcessStopSlowdown)
ASSERT_NEAR(cmd_vel_out_->linear.y, 0.0, EPSILON);
ASSERT_NEAR(cmd_vel_out_->angular.z, 0.0, EPSILON);

// 4. Restorint back normal operation
// 4. Restoring back normal operation
publishScan(3.0, curr_time);
ASSERT_TRUE(waitData(3.0, 500ms, curr_time));
publishCmdVel(0.5, 0.2, 0.1);
Expand Down Expand Up @@ -606,7 +651,7 @@ TEST_F(Tester, testProcessApproach)
ASSERT_NEAR(cmd_vel_out_->linear.y, 0.0, EPSILON);
ASSERT_NEAR(cmd_vel_out_->angular.z, 0.0, EPSILON);

// 4. Restorint back normal operation
// 4. Restoring back normal operation
publishScan(3.0, curr_time);
ASSERT_TRUE(waitData(3.0, 500ms, curr_time));
publishCmdVel(0.5, 0.2, 0.0);
Expand All @@ -619,6 +664,71 @@ TEST_F(Tester, testProcessApproach)
cm_->stop();
}

TEST_F(Tester, testProcessApproachRotation)
{
rclcpp::Time curr_time = cm_->now();

// Set Collision Monitor parameters.
// Making one circle footprint for approach.
setCommonParameters();
addPolygon("Approach", POLYGON, 1.0, "approach");
addSource(RANGE_NAME, RANGE);
setVectors({"Approach"}, {RANGE_NAME});

// Start Collision Monitor node
cm_->start();

// Publish robot footprint
publishFootprint(1.0, curr_time);

// Share TF
sendTransforms(curr_time);

// 1. Obstacle is far away from robot
publishRange(2.0, curr_time);
ASSERT_TRUE(waitData(2.0, 500ms, curr_time));
publishCmdVel(0.0, 0.0, M_PI / 4);
ASSERT_TRUE(waitCmdVel(500ms));
ASSERT_NEAR(cmd_vel_out_->linear.x, 0.0, EPSILON);
ASSERT_NEAR(cmd_vel_out_->linear.y, 0.0, EPSILON);
ASSERT_NEAR(cmd_vel_out_->angular.z, M_PI / 4, EPSILON);

// 2. Approaching rotation to obstacle ( M_PI / 4 - M_PI / 20 ahead from robot)
publishRange(1.4, curr_time);
ASSERT_TRUE(waitData(1.4, 500ms, curr_time));
publishCmdVel(0.0, 0.0, M_PI / 4);
ASSERT_TRUE(waitCmdVel(500ms));
ASSERT_NEAR(
cmd_vel_out_->linear.x, 0.0, EPSILON);
ASSERT_NEAR(
cmd_vel_out_->linear.y, 0.0, EPSILON);
ASSERT_NEAR(
cmd_vel_out_->angular.z,
M_PI / 5,
(M_PI / 4) * (SIMULATION_TIME_STEP / TIME_BEFORE_COLLISION));

// 3. Obstacle is inside robot footprint
publishRange(0.5, curr_time);
ASSERT_TRUE(waitData(0.5, 500ms, curr_time));
publishCmdVel(0.0, 0.0, M_PI / 4);
ASSERT_TRUE(waitCmdVel(500ms));
ASSERT_NEAR(cmd_vel_out_->linear.x, 0.0, EPSILON);
ASSERT_NEAR(cmd_vel_out_->linear.y, 0.0, EPSILON);
ASSERT_NEAR(cmd_vel_out_->angular.z, 0.0, EPSILON);

// 4. Restoring back normal operation
publishRange(2.5, curr_time);
ASSERT_TRUE(waitData(2.5, 500ms, curr_time));
publishCmdVel(0.0, 0.0, M_PI / 4);
ASSERT_TRUE(waitCmdVel(500ms));
ASSERT_NEAR(cmd_vel_out_->linear.x, 0.0, EPSILON);
ASSERT_NEAR(cmd_vel_out_->linear.y, 0.0, EPSILON);
ASSERT_NEAR(cmd_vel_out_->angular.z, M_PI / 4, EPSILON);

// Stop Collision Monitor node
cm_->stop();
}

TEST_F(Tester, testCrossOver)
{
rclcpp::Time curr_time = cm_->now();
Expand Down