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* Parametrize collision checking in nav2_graceful_controller #5006

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Merged
merged 4 commits into from
Mar 25, 2025
Merged

* Parametrize collision checking in nav2_graceful_controller #5006

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ba0bb48
* Parametrize collision checking in nav2_graceful_controller
suchetanrs Mar 23, 2025
bb8ea0d
* Fix linting errors
suchetanrs Mar 23, 2025
ff306b5
* Address PR comments
suchetanrs Mar 25, 2025
03a78b1
* Add test for the use_collision_detection parameter
suchetanrs Mar 25, 2025
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1 change: 1 addition & 0 deletions nav2_graceful_controller/include/nav2_graceful_controller/parameter_handler.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -53,6 +53,7 @@ struct Parameters
double rotation_scaling_factor;
bool allow_backward;
double in_place_collision_resolution;
bool use_collision_detection;
};

/**
Expand Down
10 changes: 6 additions & 4 deletions nav2_graceful_controller/src/graceful_controller.cpp
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Expand Up @@ -56,8 +56,10 @@ void GracefulController::configure(
params_->v_linear_min, params_->v_linear_max, params_->v_angular_max);

// Initialize footprint collision checker
collision_checker_ = std::make_unique<nav2_costmap_2d::
FootprintCollisionChecker<nav2_costmap_2d::Costmap2D *>>(costmap_ros_->getCostmap());
if(params_->use_collision_detection) {
collision_checker_ = std::make_unique<nav2_costmap_2d::
FootprintCollisionChecker<nav2_costmap_2d::Costmap2D *>>(costmap_ros_->getCostmap());
}

// Publishers
transformed_plan_pub_ = node->create_publisher<nav_msgs::msg::Path>("transformed_global_plan", 1);
Expand Down Expand Up @@ -177,7 +179,7 @@ geometry_msgs::msg::TwistStamped GracefulController::computeVelocityCommands(
next_pose.pose.orientation = nav2_util::geometry_utils::orientationAroundZAxis(yaw);
geometry_msgs::msg::PoseStamped costmap_pose;
tf2::doTransform(next_pose, costmap_pose, costmap_transform);
if (inCollision(
if (params_->use_collision_detection && inCollision(
costmap_pose.pose.position.x, costmap_pose.pose.position.y,
tf2::getYaw(costmap_pose.pose.orientation)))
{
Expand Down Expand Up @@ -348,7 +350,7 @@ bool GracefulController::simulateTrajectory(
// Check for collision
geometry_msgs::msg::PoseStamped global_pose;
tf2::doTransform(next_pose, global_pose, costmap_transform);
if (inCollision(
if (params_->use_collision_detection && inCollision(
global_pose.pose.position.x, global_pose.pose.position.y,
tf2::getYaw(global_pose.pose.orientation)))
{
Expand Down
6 changes: 6 additions & 0 deletions nav2_graceful_controller/src/parameter_handler.cpp
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Expand Up @@ -70,6 +70,8 @@ ParameterHandler::ParameterHandler(
node, plugin_name_ + ".allow_backward", rclcpp::ParameterValue(false));
declare_parameter_if_not_declared(
node, plugin_name_ + ".in_place_collision_resolution", rclcpp::ParameterValue(0.1));
declare_parameter_if_not_declared(
node, plugin_name_ + ".use_collision_detection", rclcpp::ParameterValue(true));

node->get_parameter(plugin_name_ + ".transform_tolerance", params_.transform_tolerance);
node->get_parameter(plugin_name_ + ".min_lookahead", params_.min_lookahead);
Expand Down Expand Up @@ -103,6 +105,8 @@ ParameterHandler::ParameterHandler(
node->get_parameter(plugin_name_ + ".allow_backward", params_.allow_backward);
node->get_parameter(
plugin_name_ + ".in_place_collision_resolution", params_.in_place_collision_resolution);
node->get_parameter(
plugin_name_ + ".use_collision_detection", params_.use_collision_detection);

if (params_.initial_rotation && params_.allow_backward) {
RCLCPP_WARN(
Expand Down Expand Up @@ -187,6 +191,8 @@ ParameterHandler::dynamicParametersCallback(std::vector<rclcpp::Parameter> param
continue;
}
params_.allow_backward = parameter.as_bool();
} else if (name == plugin_name_ + ".use_collision_detection") {
params_.use_collision_detection = parameter.as_bool();
}
}
}
Expand Down
4 changes: 4 additions & 0 deletions nav2_graceful_controller/test/test_graceful_controller.cpp
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Expand Up @@ -248,6 +248,8 @@ TEST(GracefulControllerTest, dynamicParameters) {
node, "test.initial_rotation", rclcpp::ParameterValue(true));
nav2_util::declare_parameter_if_not_declared(
node, "test.allow_backward", rclcpp::ParameterValue(true));
nav2_util::declare_parameter_if_not_declared(
node, "test.use_collision_detection", rclcpp::ParameterValue(true));

// Create controller
auto controller = std::make_shared<GMControllerFixture>();
Expand Down Expand Up @@ -282,6 +284,7 @@ TEST(GracefulControllerTest, dynamicParameters) {
rclcpp::Parameter("test.prefer_final_rotation", false),
rclcpp::Parameter("test.rotation_scaling_factor", 13.0),
rclcpp::Parameter("test.allow_backward", true),
rclcpp::Parameter("test.use_collision_detection", false),
rclcpp::Parameter("test.in_place_collision_resolution", 15.0)});

// Spin
Expand All @@ -305,6 +308,7 @@ TEST(GracefulControllerTest, dynamicParameters) {
EXPECT_EQ(node->get_parameter("test.prefer_final_rotation").as_bool(), false);
EXPECT_EQ(node->get_parameter("test.rotation_scaling_factor").as_double(), 13.0);
EXPECT_EQ(node->get_parameter("test.allow_backward").as_bool(), true);
EXPECT_EQ(node->get_parameter("test.use_collision_detection").as_bool(), false);
EXPECT_EQ(node->get_parameter("test.in_place_collision_resolution").as_double(), 15.0);

// Set initial rotation to true
Expand Down
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