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Fix speed limits #372

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Fix speed limits #372

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d60be4c
Fix speed limits
Jul 11, 2022
f792e41
fix parmas
Jul 11, 2022
49472ab
Merge pull request #35 from logivations/fix-teb-speed-limiting
Jul 12, 2022
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6 changes: 3 additions & 3 deletions teb_local_planner/include/teb_local_planner/teb_config.h
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Original file line number Diff line number Diff line change
Expand Up @@ -271,9 +271,9 @@ class TebConfig
robot.max_vel_y = 0.0;
robot.max_vel_theta = 0.3;
robot.base_max_vel_x = robot.max_vel_x;
robot.base_max_vel_x_backwards = robot.base_max_vel_x_backwards;
robot.base_max_vel_y = robot.base_max_vel_y;
robot.base_max_vel_theta = robot.base_max_vel_theta;
robot.base_max_vel_x_backwards = robot.max_vel_x_backwards;
robot.base_max_vel_y = robot.max_vel_y;
robot.base_max_vel_theta = robot.max_vel_theta;
robot.acc_lim_x = 0.5;
robot.acc_lim_y = 0.5;
robot.acc_lim_theta = 0.5;
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4 changes: 4 additions & 0 deletions teb_local_planner/src/teb_config.cpp
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Expand Up @@ -197,9 +197,13 @@ void TebConfig::loadRosParamFromNodeHandle(const nav2_util::LifecycleNode::Share

// Robot
nh->get_parameter_or(name + "." + "max_vel_x", robot.max_vel_x, robot.max_vel_x);
nh->get_parameter_or(name + "." + "max_vel_x", robot.base_max_vel_x, robot.base_max_vel_x);
nh->get_parameter_or(name + "." + "max_vel_x_backwards", robot.max_vel_x_backwards, robot.max_vel_x_backwards);
nh->get_parameter_or(name + "." + "max_vel_x_backwards", robot.base_max_vel_x_backwards, robot.base_max_vel_x_backwards);
nh->get_parameter_or(name + "." + "max_vel_y", robot.max_vel_y, robot.max_vel_y);
nh->get_parameter_or(name + "." + "max_vel_y", robot.base_max_vel_y, robot.base_max_vel_y);
nh->get_parameter_or(name + "." + "max_vel_theta", robot.max_vel_theta, robot.max_vel_theta);
nh->get_parameter_or(name + "." + "max_vel_theta", robot.base_max_vel_theta, robot.base_max_vel_theta);
nh->get_parameter_or(name + "." + "acc_lim_x", robot.acc_lim_x, robot.acc_lim_x);
nh->get_parameter_or(name + "." + "acc_lim_y", robot.acc_lim_y, robot.acc_lim_y);
nh->get_parameter_or(name + "." + "acc_lim_theta", robot.acc_lim_theta, robot.acc_lim_theta);
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60 changes: 41 additions & 19 deletions teb_local_planner/src/teb_local_planner_ros.cpp
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Expand Up @@ -1041,30 +1041,44 @@ void TebLocalPlannerROS::configureBackupModes(std::vector<geometry_msgs::msg::Po
RCLCPP_INFO(logger_, "TebLocalPlannerROS: oscillation recovery disabled/expired.");
}
}

}


void TebLocalPlannerROS::setSpeedLimit(
const double & speed_limit, const bool & percentage)
{
void TebLocalPlannerROS::setSpeedLimit(const double& speed_limit,
const bool& percentage) {
if (speed_limit == nav2_costmap_2d::NO_SPEED_LIMIT) {
// Restore default value
// Restore Defaults
cfg_->robot.max_vel_x = cfg_->robot.base_max_vel_x;
cfg_->robot.base_max_vel_x_backwards = cfg_->robot.base_max_vel_x_backwards;
cfg_->robot.base_max_vel_y = cfg_->robot.base_max_vel_y;
cfg_->robot.base_max_vel_theta = cfg_->robot.base_max_vel_theta;
cfg_->robot.max_vel_x_backwards = cfg_->robot.base_max_vel_x_backwards;
cfg_->robot.max_vel_y = cfg_->robot.base_max_vel_y;
cfg_->robot.max_vel_theta = cfg_->robot.base_max_vel_theta;
} else {
if (percentage) {
// Speed limit is expressed in % from maximum speed of robot
cfg_->robot.max_vel_x = cfg_->robot.base_max_vel_x * speed_limit / 100.0;
cfg_->robot.base_max_vel_x_backwards = cfg_->robot.base_max_vel_x_backwards * speed_limit / 100.0;
cfg_->robot.base_max_vel_y = cfg_->robot.base_max_vel_y * speed_limit / 100.0;
cfg_->robot.base_max_vel_theta = cfg_->robot.base_max_vel_theta * speed_limit / 100.0;
if (speed_limit > 1.0 || speed_limit < 0.0) {
RCLCPP_WARN_THROTTLE(
logger_, *(clock_), 100,
"Percentage given outside the range 0-1. Using base velocities.");
// Restore defaults
cfg_->robot.max_vel_x = cfg_->robot.base_max_vel_x;
cfg_->robot.max_vel_x_backwards = cfg_->robot.base_max_vel_x_backwards;
cfg_->robot.max_vel_y = cfg_->robot.base_max_vel_y;
cfg_->robot.max_vel_theta = cfg_->robot.base_max_vel_theta;
} else {
// Speed limit is expressed in % from maximum speed of robot
cfg_->robot.max_vel_x =
cfg_->robot.base_max_vel_x * speed_limit / 100.0;
cfg_->robot.max_vel_x_backwards =
cfg_->robot.base_max_vel_x_backwards * speed_limit / 100.0;
cfg_->robot.max_vel_y =
cfg_->robot.base_max_vel_y * speed_limit / 100.0;
cfg_->robot.max_vel_theta =
cfg_->robot.base_max_vel_theta * speed_limit / 100.0;
}
} else {
// Speed limit is expressed in absolute value
double max_speed_xy = std::max(
std::max(cfg_->robot.base_max_vel_x,cfg_->robot.base_max_vel_x_backwards),cfg_->robot.base_max_vel_y);
double max_speed_xy =
std::max(std::max(cfg_->robot.base_max_vel_x,
cfg_->robot.base_max_vel_x_backwards),
cfg_->robot.base_max_vel_y);
if (speed_limit < max_speed_xy) {
// Handling components and angular velocity changes:
// Max velocities are being changed in the same proportion
Expand All @@ -1073,9 +1087,17 @@ void TebLocalPlannerROS::setSpeedLimit(
// G. Doisy: not sure if that's applicable to base_max_vel_x_backwards.
const double ratio = speed_limit / max_speed_xy;
cfg_->robot.max_vel_x = cfg_->robot.base_max_vel_x * ratio;
cfg_->robot.base_max_vel_x_backwards = cfg_->robot.base_max_vel_x_backwards * ratio;
cfg_->robot.base_max_vel_y = cfg_->robot.base_max_vel_y * ratio;
cfg_->robot.base_max_vel_theta = cfg_->robot.base_max_vel_theta * ratio;
cfg_->robot.max_vel_x_backwards =
cfg_->robot.base_max_vel_x_backwards * ratio;
cfg_->robot.max_vel_y = cfg_->robot.base_max_vel_y * ratio;
cfg_->robot.max_vel_theta = cfg_->robot.base_max_vel_theta * ratio;

} else {
// Restore defaults
cfg_->robot.max_vel_x = cfg_->robot.base_max_vel_x;
cfg_->robot.max_vel_x_backwards = cfg_->robot.base_max_vel_x_backwards;
cfg_->robot.max_vel_y = cfg_->robot.base_max_vel_y;
cfg_->robot.max_vel_theta = cfg_->robot.base_max_vel_theta;
}
}
}
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