[collision monitor] Select the observation sources used with each polygon #4227

anaelle-sw · 2024-03-28T16:55:10Z

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#4197
Primary OS tested on	Ubuntu
Robotic platform tested on	RobOcc's robot
Does this PR contain AI generated software?	No

Description of contribution in a few bullet points

New string vector parameter <polygon_name>.sources_names. Only the sources which names are specified in parameter are used to check collision with current polygon. If the parameter is not set, all the observation sources are used.

Description of documentation updates required from your changes

Add new parameter <polygon_name>.sources_names to default configs, documentation page, and migration guide

Future work that may be required in bullet points

For Maintainers:

Check that any new parameters added are updated in navigation.ros.org
Check that any significant change is added to the migration guide
Check that any new features OR changes to existing behaviors are reflected in the tuning guide
Check that any new functions have Doxygen added
Check that any new features have test coverage
Check that any new plugins is added to the plugins page
If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

mergify · 2024-03-28T16:56:45Z

@anaelle-sw, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

mergify · 2024-03-28T17:02:27Z

@anaelle-sw, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

SteveMacenski

I think we can do this more efficiently and straight forward

Create the unordered map
Adjust the current for (std::shared_ptr<Source> source : sources_) { loop to contain (1) creating an entry for a source name key with an empty vector as the value. (2) Capture the return of insert will give you an iterator to that pair in the map
Pass into getData the reference to the value (vector) to populate. That eliminates an entire data copy. It also eliminates multiple calls to getData to populate both the vector and map separately
Adjust the processStopSlowdownLimit / processApproach / etc functions to take in this map. The vector of points should no longer exist
Pass the map to the isPointInside
When iterating through the sources, use the sources names to decide if you want to use that one or not

This eliminates any extra looping and a bunch of data copies (and not parallel populating a map and a vector of data). Speed here is really key and copying pointclouds and laserscans is a pretty worst-case situation

nav2_collision_monitor/src/collision_monitor_node.cpp

mergify · 2024-04-24T16:51:47Z

This pull request is in conflict. Could you fix it @anaelle-sw?

SteveMacenski · 2024-04-24T17:09:47Z

@anaelle-sw looks like some small changes needed from merging your other PR 😄 Can we get this one in next?

I do really appreciate your time and effort to contribute this work back to Nav2, it is very useful and thank you!

SteveMacenski · 2024-05-28T21:09:29Z

@anaelle-sw Hi! Any update here?

anaelle-sw · 2024-06-05T14:59:06Z

Sorry, I haven't had the time to work on this properly lately. I will rebase the branch on main and begin to apply to changes you requested by the end of the week.

SteveMacenski · 2024-06-05T15:34:56Z

Thanks @anaelle-sw :-)

mergify · 2024-06-07T07:52:49Z

@anaelle-sw, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

mergify · 2024-06-07T14:55:12Z

@anaelle-sw, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

anaelle-sw · 2024-06-07T15:24:01Z

The MR is now rebased on current main branch. I have also applied your optimization suggestions. But I have not tested yet the behaviour with these changes.

I entirely agree with most of the optimizations you asked for, but actually I have a slightly better solution about function getPointsInside():

You suggested to pass the entire map (which associates the sources names to their vector of points) to function getPointsInside(), instead of a simple array of points. So, in this function, we should have a "for" loop on the map in order to choose to use or not each source (depending on the polygon config). This clearly optimizes the processing of points for Stop, Slowdown, and Limit polygons (function processStopSlowdownLimit() is calling only once function getPointsInside).

But in the case of Approach polygons, the function processApproach() calls getCollisionTime(), which can call twice getPointsInside(). This means we get to go through the "for" loop on the entire map twice. To avoid this, I have simply moved this "for" loop to getCollisionTime() function. This way, 1 - we make sure to go through the map only once for each polygon, and 2 - it avoids useless computation (i.e. points frame transformation made in getCollisionTime()) when the sources are actually not used for current polygon.

To do so, I have kept the already existing getPointsInside() function, which takes a vector of points as argument. This function is called by getCollisionTime the same way as it was before. But I have also overloaded this getPointsInside() function to be able to take the entire map as argument, which is more convenient to call from function processStopSlowdownLimit(), in the case of the Stop/Slowdown/Limit polygons.

mergify · 2024-06-07T15:33:19Z

@anaelle-sw, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

mergify · 2024-06-07T15:40:11Z

@anaelle-sw, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

SteveMacenski · 2024-06-07T16:13:11Z

It does not appear to be building properly, but I love this idea and looks good to me! A couple of tests for this feature would be nice - since this is a pretty low-level system that we should be especially careful about.

mergify · 2024-06-11T16:52:33Z

@anaelle-sw, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

mergify · 2024-06-11T17:12:38Z

@anaelle-sw, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

mergify · 2024-06-11T17:16:05Z

@anaelle-sw, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

SteveMacenski · 2024-06-11T17:47:59Z

Many of the collision monitor tests are now failing!

SteveMacenski · 2024-08-01T03:24:08Z

Hi @anaelle-sw how can I help push this along?

mergify · 2024-08-22T16:41:15Z

@anaelle-sw, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

SteveMacenski · 2024-08-22T17:55:26Z

@anaelle-sw Please rebase after I merge #4642 to fix the build issue. TF2 changed a header location on us :-) (and probably fix the linting/DCO issues while you're at it)

Is this good for another review then?

Signed-off-by: asarazin <[email protected]>

anaelle-sw · 2024-08-23T16:14:27Z

Hi @SteveMacenski , sorry it took me so long to work on this and fix the tests. It should be good to be reviewed now, the branch is rebased, and DCO, linting and collision monitor tests are fixed.

I also add 3 new tests for polygons:

if no specific sources are declared for polygon, all observation sources should be used
if not declared source is associated to polygon, configuration should fail
if specific sources are declared for polygon, only these observation sources will be used

And a test for collision monitor node:
Two polygons are declared, with the same size. The first one uses all observation sources (range + scan) and has a "slowdown" action type. The second one uses only the range source and has a "stop" action type.
If the range source publishes an obstacle far away from the polygons, while the scan source publishes an obstacle inside the polygons, only the "slowdown" action type coming from the first polygon should be applied.

codecov · 2024-08-23T16:28:47Z

Codecov Report

All modified and coverable lines are covered by tests ✅

Files with missing lines	Coverage Δ
..._collision_monitor/src/collision_detector_node.cpp	`97.56% <100.00%> (-0.61%)`	⬇️
...2_collision_monitor/src/collision_monitor_node.cpp	`97.44% <100.00%> (-0.34%)`	⬇️
nav2_collision_monitor/src/polygon.cpp	`97.38% <100.00%> (+0.23%)`	⬆️

... and 5 files with indirect coverage changes

SteveMacenski

Small nitpick, but overall looks good to me!

nav2_collision_monitor/src/collision_monitor_node.cpp

nav2_collision_monitor/src/polygon.cpp

SteveMacenski · 2024-08-27T18:30:19Z

Otherwise, LGTM, but you have a test failing so I can't see the coverage metrics to see if this covers the bulk of the important changes

Signed-off-by: asarazin <[email protected]>

SteveMacenski · 2024-08-28T17:47:56Z

LGTM! Any reason this is still a draft? I could merge this in I think!

anaelle-sw · 2024-08-29T08:31:16Z

Any reason this is still a draft?

No, I just forgot to update it. It should be good now

…ygon (#4227) * Collision monitor: select specific observation sources for polygon Signed-off-by: asarazin <[email protected]> * optimization Signed-off-by: asarazin <[email protected]> * add tests Signed-off-by: asarazin <[email protected]> --------- Signed-off-by: asarazin <[email protected]> Co-authored-by: asarazin <[email protected]>

* Adding non-charging dock support to docking server (for conveyers, pallots, etc) (#4627) * adding non-charging dock support to docking server Signed-off-by: Steve Macenski <[email protected]> * docs and linting * adding unit tests Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> * Publish optimal trajectory as a Path message (#4640) * Publish optimal trajectory as a Path message Signed-off-by: Alyssa Agnissan <[email protected]> * move publish_optimal_path to TrajectoryVisualizer + minor refactoring Signed-off-by: Alyssa Agnissan <[email protected]> * tests added for optimal path publication Signed-off-by: Alyssa Agnissan <[email protected]> * populate optimal path message in add() Signed-off-by: Alyssa Agnissan <[email protected]> * move path population in add_marker Signed-off-by: Alyssa Agnissan <[email protected]> --------- Signed-off-by: Alyssa Agnissan <[email protected]> * [collision monitor] Select the observation sources used with each polygon (#4227) * Collision monitor: select specific observation sources for polygon Signed-off-by: asarazin <[email protected]> * optimization Signed-off-by: asarazin <[email protected]> * add tests Signed-off-by: asarazin <[email protected]> --------- Signed-off-by: asarazin <[email protected]> Co-authored-by: asarazin <[email protected]> * Restore exported BT test utils header files after cmake revamp (#4652) (#4654) Signed-off-by: Mike Wake <[email protected]> * fix(bt_nodes): Correct default `server_timeout` behavior by using `getInputPortOrBlackboard()` (#4649) Signed-off-by: Alan Xue <[email protected]> * PoseStamped vector specialization (#4607) * PoseStamped vector specialization Signed-off-by: Tony Najjar <[email protected]> * merge master Signed-off-by: Tony Najjar <[email protected]> * add path Signed-off-by: Tony Najjar <[email protected]> * fix size check Signed-off-by: Tony Najjar <[email protected]> * fix test Signed-off-by: Tony Najjar <[email protected]> * Revert "fix test" This reverts commit 51f54eb. * fix test Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> * [DWB] Option to limit velocity commands in trajectory generator (#4663) * Option to limit vel cmd through traj generator Signed-off-by: huiyulhy <[email protected]> * Cleanup Signed-off-by: huiyulhy <[email protected]> * fix linting Signed-off-by: huiyulhy <[email protected]> * Update linting Signed-off-by: huiyulhy <[email protected]> * uncrustify Signed-off-by: huiyulhy <[email protected]> * uncrustify Signed-off-by: huiyulhy <[email protected]> --------- Signed-off-by: huiyulhy <[email protected]> * Adding planner server timeout for costmap waiting (#4673) * Adding planner server timeout for costmap waiting Signed-off-by: Steve Macenski <[email protected]> * Adding controller server's costmap timeout as well Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> * fixing path longer on approach (#4622) * fixing path longer on approach Signed-off-by: Pradheep <[email protected]> * removing the short circuit Signed-off-by: Pradheep <[email protected]> * adding additional layer of check Signed-off-by: Pradheep <[email protected]> --------- Signed-off-by: Pradheep <[email protected]> * fix to bt action server logging before bt execution result being ready (#4677) Signed-off-by: DreamWest <[email protected]> * Correct paper name for graceful controller Signed-off-by: Steve Macenski <[email protected]> * Added missing action clients in robot_navigator(BasicNavigator) to destroy_node (#4698) * fix: added assisted_teleop_client to robot_navigator(BasicNavigator) destroy_node Signed-off-by: Tiwa Ojo <[email protected]> * fix: added other missing action clients to robot_navigator(BasicNavigator) destroy_node Signed-off-by: Tiwa Ojo <[email protected]> --------- Signed-off-by: Tiwa Ojo <[email protected]> * Fixing SGF in MPPI and Smoother (#4669) Signed-off-by: Steve Macenski <[email protected]> * fix: handle transition failures in all servers (#4708) * fix: handle transition failures in planner/controller/smoother servers Signed-off-by: Kemal Bektas <[email protected]> * adding support for rest of servers + review comments Signed-off-by: Steve Macenski <[email protected]> * Replacing throws with error and failed lifecycle transitions Signed-off-by: Steve Macenski <[email protected]> * fix vel smoother unit tests Signed-off-by: Steve Macenski <[email protected]> * fixing docking server unit testing Signed-off-by: Steve Macenski <[email protected]> * fixing last bits Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Kemal Bektas <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Kemal Bektas <[email protected]> * [RotationShimController] fix: rotate on short paths (#4716) Add header data to goal for short paths. Commit d8ae3c1 added the possibility to the rotation shim controller to rotate towards the goal when the goal was closer that the `forward_sampling_distance`. This feature was not fully working as the goal was missing proper header data, causing the rotation shim to give back control to the main controller. Co-authored-by: agennart <[email protected]> * Added parameter `rotate_to_heading_once` (#4721) Signed-off-by: Daniil Khaninaev <[email protected]> * [RotationShimController] fix: rotate to goal heading (#4724) Add frame_id to goal when rotating towards goal heading, otherwise the transform would fail. This bug was introduced in 30e2cde by not setting the frame_id. Signed-off-by: agennart <[email protected]> Co-authored-by: agennart <[email protected]> * [loopback_sim] Publish clock, [nav2_costmap_2d] Fix Qos (#4726) * Publish /clock from loopback sim Signed-off-by: Adi Vardi <[email protected]> * [nav2_costmap_2d] Fix obstacle_layer trying to use RELIABLE QoS Use QoS profile from rclcpp::SensorDataQoS() instead of rmw_qos_profile_t. This solves an issue where the subscriber uses RELIABLE setting even when initialized from rmw_qos_profile_sensor_data. In addition the Subscriber(..., rmw_qos_profile_t) constructor is deprecated in favor of Subscriber(..., rclcpp::QoS) Signed-off-by: Adi Vardi <[email protected]> * [nav2_smac_planner] fix typos Signed-off-by: Adi Vardi <[email protected]> * Use single quotes Signed-off-by: Adi Vardi <[email protected]> --------- Signed-off-by: Adi Vardi <[email protected]> * Fix incorrect doxygen comment (#4741) Signed-off-by: Ryan Friedman <[email protected]> * Updating error logging in Smac collision detector object (#4743) * Updating error logging in Smac configs Signed-off-by: Steve Macenski <[email protected]> * linting Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> * [map_io] Replace std logs by rclcpp logs (#4720) * replace std logs by rclcpp logs Signed-off-by: Guillaume Doisy <[email protected]> * RCLCPP_DEBUG to RCLCPP_INFO for visibility Signed-off-by: Guillaume Doisy <[email protected]> --------- Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> * manual backport to Jazzy of 6b2e244 Signed-off-by: Steve Macenski <[email protected]> * bump to 1.3.3 for jazzy sync Signed-off-by: Steve Macenski <[email protected]> * fixing backport issue Signed-off-by: Steve Macenski <[email protected]> * fixing backport of docking linking changes Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Alyssa Agnissan <[email protected]> Signed-off-by: asarazin <[email protected]> Signed-off-by: Mike Wake <[email protected]> Signed-off-by: Alan Xue <[email protected]> Signed-off-by: Tony Najjar <[email protected]> Signed-off-by: huiyulhy <[email protected]> Signed-off-by: Pradheep <[email protected]> Signed-off-by: DreamWest <[email protected]> Signed-off-by: Tiwa Ojo <[email protected]> Signed-off-by: Kemal Bektas <[email protected]> Signed-off-by: Daniil Khaninaev <[email protected]> Signed-off-by: agennart <[email protected]> Signed-off-by: Adi Vardi <[email protected]> Signed-off-by: Ryan Friedman <[email protected]> Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: alyquantillion <[email protected]> Co-authored-by: anaelle-sw <[email protected]> Co-authored-by: asarazin <[email protected]> Co-authored-by: aosmw <[email protected]> Co-authored-by: Alan <[email protected]> Co-authored-by: Tony Najjar <[email protected]> Co-authored-by: Huiyu Leong <[email protected]> Co-authored-by: Pradheep Krishna <[email protected]> Co-authored-by: DreamWest <[email protected]> Co-authored-by: Tiwa Ojo <[email protected]> Co-authored-by: Kemal Bektas <[email protected]> Co-authored-by: Saitama <[email protected]> Co-authored-by: agennart <[email protected]> Co-authored-by: Daniil Khaninaev <[email protected]> Co-authored-by: Adi Vardi <[email protected]> Co-authored-by: Ryan <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]>

…ygon (ros-navigation#4227) * Collision monitor: select specific observation sources for polygon Signed-off-by: asarazin <[email protected]> * optimization Signed-off-by: asarazin <[email protected]> * add tests Signed-off-by: asarazin <[email protected]> --------- Signed-off-by: asarazin <[email protected]> Co-authored-by: asarazin <[email protected]> Signed-off-by: Joseph Duchesne <[email protected]>

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[collision monitor] Select the observation sources used with each polygon #4197

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Collision monitor: select specific observation sources for polygon

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Signed-off-by: asarazin <[email protected]>

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optimization

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add tests

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anaelle-sw marked this pull request as ready for review August 29, 2024 08:27

SteveMacenski merged commit 6d24c7f into ros-navigation:main Aug 29, 2024
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[collision monitor] Select the observation sources used with each polygon #4227

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[collision monitor] Select the observation sources used with each polygon #4227

[collision monitor] Select the observation sources used with each polygon #4227

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anaelle-sw commented Mar 28, 2024

Basic Info

Description of contribution in a few bullet points

Description of documentation updates required from your changes

Future work that may be required in bullet points

For Maintainers:

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