adding additional constants and smoothers tests to smac_planner #2038
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Codecov Report
@@ Coverage Diff @@
## main #2038 +/- ##
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+ Coverage 81.71% 81.82% +0.10%
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Files 243 243
Lines 11787 11786 -1
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+ Hits 9632 9644 +12
+ Misses 2155 2142 -13
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SteveMacenski
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Oct 13, 2020
…tor (#2032) * Added a test with controller_frequency of 0. The controller should get a default frequency of 20. * Add kinematic parameters test (#2031) * Add kinematic parameters tests. * Solve uncrustify error. * [WIP fixing CI] changing gazebo base to my fork for testing (#2034) * changing gazebo base to my fork for testing * adding buffer header per TF2 API changes * moving header to header * Adding additional SmacPlanner tests (#2036) * adding some more tests to smac_planner * addtl smac tests * remove unused functions * adding additional constants and smoothers tests (#2038) * Added tests for different controller frequencies. * Added a test with controller_frequency of 0. The controller should get a default frequency of 20. * Added tests for different controller frequencies. * Solve uncrustify issue. Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
ryan-sandzimier
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Nov 4, 2020
ryan-sandzimier
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SteveMacenski
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Nov 4, 2020
* Fix memory leak (#1900) * Fix memory leak in nav2_recoveries * Fix recovery server memory leak (better interface) * Fix costmap2d memory leak * Fix nav2_navfn_planner memory leak * Fix planner server and navfn planner memory leak * Make all rclcpp::Node::SharedPtr argument passing const * Fix controller server and DWB plugins memory leak * Minor fixes * Fix formatting errors * Change all plugin interfaces to use weak_ptr intead of shared_ptr to parent rclcpp::Node * Convert all SharedPtr to WeakPtr * Check shared_ptr after lock and before dereferencing * Smac/Hybrid-A* planner (#2021) * adding smac_planner to navigation2 metapackage * adding params to metapackage * update config files * adding navfn benchmark testing * updates to costmap_2d for flexility * update planner API for new changes * adding ompl to underlay because ros2 master doesn't contain the rosdep key * patching templated footprint collision checker * fix typo * updating readme config file * Analytic expansion (#43) * Use OMPL to generate heuristics The calculation is run at every planning cycle. It does not seem to slow down the planner - the calculation time seems to be quick enough that the improvement in graph expansion accounts for it. * Use OMPL to calculate analytic solution when near goal * Make angles multiples of the bin size to stop looping behaviour * Uncrustify * Use faster std::sqrt function * Fix analytic path so that the collision checker has coordinates to check! * Pre-allocate variables in analytic path expansion * Rename typedef to NodeGetter to more accurately describe function * Use distance rather than heuristic to determine when to perform analytic expansion Also force the analytic expansion to run on first iteration in case path is trivial. * Move the check for motion model into the main A* loop * Add copyright notices * Remove comment about relaxing node match tolerances The analytic expansion removes the need for this. * Correctly reset node coordinates when aborting from analytic expansion * Move analytic expansion logic to separate function * Uncrustify * Remove unneeded call to get goal coordinates * Fix the calculation of intervals in the analytic path Reserve the number of candidate nodes we are expecting. Base calculations on intervals rather than points - makes distances between nodes work properly. * Rescale heuristic so that analytic expansions are based on distance * Repeatedly split analytic path in half when checking for collision * Add parameter to control rate of analytic expansion attempts * Uncrustify * Fix incorrect type in templated function * Cpplint * Revert "Repeatedly split analytic path in half when checking for collision" This reverts commit 94d9ee0. There was a marginal speed gain (perhaps!) and the splitting approach made the code harder to understand and maintain. * Uncrustify * Add doxygen comments * Add parameter description for analytic expansion ratio * Set lower limit of 2 on number of iterations between analytic expansions * Reduce expected number of iterations because of analytic completion * Refactor analytic expansion ratio calcs to make logic easier to understand * add readme color * fix linting * ceil from floor (and speed up) * a few updates * fix smac tests * fixing smoother test * remove cost check - to be readded at another time * working last test from debug issues * Update README.md * Update README.md * adding getUseRadius API doxygen Co-authored-by: James Ward <james@robomo.co> * Adding additional SmacPlanner tests (#2036) * adding some more tests to smac_planner * addtl smac tests * remove unused functions * adding additional constants and smoothers tests (#2038) * Revert "Fix memory leak (#1900)" This reverts commit 681ccfa. * Changed WeakPtr to SharedPtr for compatibility with Foxy Co-authored-by: Sarthak Mittal <sarthakmittal2608@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: James Ward <james@robomo.co>
ruffsl
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Jul 2, 2021
ruffsl
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Jul 2, 2021
…tor (ros-navigation#2032) * Added a test with controller_frequency of 0. The controller should get a default frequency of 20. * Add kinematic parameters test (ros-navigation#2031) * Add kinematic parameters tests. * Solve uncrustify error. * [WIP fixing CI] changing gazebo base to my fork for testing (ros-navigation#2034) * changing gazebo base to my fork for testing * adding buffer header per TF2 API changes * moving header to header * Adding additional SmacPlanner tests (ros-navigation#2036) * adding some more tests to smac_planner * addtl smac tests * remove unused functions * adding additional constants and smoothers tests (ros-navigation#2038) * Added tests for different controller frequencies. * Added a test with controller_frequency of 0. The controller should get a default frequency of 20. * Added tests for different controller frequencies. * Solve uncrustify issue. Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
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