fix flickering visualization #4561

VladyslavHrynchak200204 · 2024-07-25T09:34:12Z

Basic Info

Info	Please fill out this column
Primary OS tested on	(Ubuntu)
Robotic platform tested on	gazebo simulation

Purpose:

The map_vis_z parameter has been introduced to help modify the map slightly below the default plane, aiming to eliminate flickering issues.

Default Value:

map_vis_z: 0.0

Minimum Value Without Flickering:

map_vis_z: -0.008

For Maintainers:

Check that any new parameters added are updated in docs.nav2.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 · 2024-07-25T09:34:51Z

This pull request is in conflict. Could you fix it @VladyslavHrynchak200204?

mergify · 2024-07-25T09:35:47Z

@VladyslavHrynchak200204, 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).

Signed-off-by: Vladyslav Hrynchak <[email protected]>

mergify · 2024-07-25T10:33:05Z

@VladyslavHrynchak200204, 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).

Signed-off-by: Vladyslav Hrynchak <[email protected]>

mergify · 2024-07-25T10:44:27Z

@VladyslavHrynchak200204, 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).

VladyslavHrynchak200204 · 2024-07-25T14:43:45Z

still in progress

SteveMacenski · 2024-07-25T16:49:29Z

OK, I'm going to refrain from a detailed review until you're ready! I am curious however what value you set this to

Signed-off-by: Vladyslav Hrynchak <[email protected]>

mergify · 2024-07-29T10:02:58Z

This pull request is in conflict. Could you fix it @VladyslavHrynchak200204?

codecov · 2024-07-29T11:09:04Z

Codecov Report

Attention: Patch coverage is 87.50000% with 1 line in your changes missing coverage. Please review.

Files	Patch %	Lines
nav2_costmap_2d/src/costmap_2d_publisher.cpp	75.00%	1 Missing ⚠️

Files	Coverage Δ
...d/include/nav2_costmap_2d/costmap_2d_publisher.hpp	`100.00% <ø> (ø)`
...tmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp	`100.00% <ø> (ø)`
nav2_costmap_2d/src/costmap_2d_ros.cpp	`88.42% <100.00%> (-0.22%)`	⬇️
nav2_costmap_2d/src/costmap_2d_publisher.cpp	`62.06% <75.00%> (+0.26%)`	⬆️

... and 1 file with indirect coverage changes

mergify · 2024-07-30T10:16:27Z

This pull request is in conflict. Could you fix it @VladyslavHrynchak200204?

mergify · 2024-07-30T10:16:27Z

@VladyslavHrynchak200204, 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).

VladyslavHrynchak200204 · 2024-07-30T11:06:55Z

OK, I'm going to refrain from a detailed review until you're ready! I am curious however what value you set this to

We tested different value which is as close to 0 as possible without flickering. From out testing map_vis_z: -0.008 is minimum value for this purpose.

@SteveMacenski Could you check these changes please?

SteveMacenski

The parameter / value in the occ grid are doubles, so keep them doubles please. Otherwise LGTM.

You do need to add to:

the parameter guide the new param
the migration guide the new param and reasons - an image would be nice

SteveMacenski · 2024-07-30T18:48:30Z

nav2_costmap_2d/src/costmap_2d_publisher.cpp

@@ -54,12 +54,14 @@ Costmap2DPublisher::Costmap2DPublisher(
  Costmap2D * costmap,
  std::string global_frame,
  std::string topic_name,
-  bool always_send_full_costmap)
+  bool always_send_full_costmap,
+  float map_vis_z)


SteveMacenski · 2024-07-30T18:48:33Z

nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp

@@ -404,6 +404,7 @@ class Costmap2DROS : public nav2_util::LifecycleNode
  bool track_unknown_space_{false};
  double transform_tolerance_{0};           ///< The timeout before transform errors
  double initial_transform_timeout_{0};   ///< The timeout before activation of the node errors
+  float map_vis_z_{0};


SteveMacenski · 2024-07-30T18:48:36Z

nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_publisher.hpp

@@ -166,6 +167,7 @@ class Costmap2DPublisher
  double saved_origin_y_;
  bool active_;
  bool always_send_full_costmap_;
+  float map_vis_z_;


SteveMacenski · 2024-07-30T18:48:39Z

nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_publisher.hpp

@@ -72,7 +72,8 @@ class Costmap2DPublisher
    Costmap2D * costmap,
    std::string global_frame,
    std::string topic_name,
-    bool always_send_full_costmap = false);
+    bool always_send_full_costmap = false,
+    float map_vis_z = 0.0);


Signed-off-by: Vladyslav Hrynchak <[email protected]>

VladyslavHrynchak200204 · 2024-07-31T11:13:53Z

The parameter / value in the occ grid are doubles, so keep them doubles please. Otherwise LGTM.

You do need to add to:

the parameter guide the new param

the migration guide the new param and reasons - an image would be nice

Done. ros-navigation/docs.nav2.org#578

SteveMacenski · 2024-07-31T15:59:39Z

CI failed in a weird way, so I retriggered that - so waiting to merge the software pending that. Also, your docs are missing the configuration guide update - please update that and I can merge the pair! Thanks!

VladyslavHrynchak200204 · 2024-08-01T07:29:53Z

CI failed in a weird way, so I retriggered that - so waiting to merge the software pending that. Also, your docs are missing the configuration guide update - please update that and I can merge the pair! Thanks!

Done

SteveMacenski · 2024-08-01T13:53:10Z

Its still failing weirdly and no other pipeline is failing. Is this branch perhaps super old or something? Maybe rebasing or pulling in main could resolve.

Signed-off-by: Vladyslav Hrynchak <[email protected]>

…sualization

VladyslavHrynchak200204 · 2024-08-02T08:42:26Z

I pulled the last changes and test have passed. Does codecov need to be fixed as well?

SteveMacenski · 2024-08-02T18:18:09Z

No, that is fine, thanks for the follow up!

* Fix Flickering visualization Signed-off-by: Vladyslav Hrynchak <[email protected]> * Refactoring Costmap2DPublisher and Costmap2DROS Signed-off-by: Vladyslav Hrynchak <[email protected]> * Refactoring costmap_2d_ros.cpp Signed-off-by: Vladyslav Hrynchak <[email protected]> * Refactoring Costmap2DPublisher and Costmap2DROS Signed-off-by: Vladyslav Hrynchak <[email protected]> * Update costmap_2d_publisher.cpp Signed-off-by: Vladyslav Hrynchak <[email protected]> * Change map_vis_z from float to double Signed-off-by: Vladyslav Hrynchak <[email protected]> * Add comment to map_vis_z_ parameter Signed-off-by: Vladyslav Hrynchak <[email protected]> --------- Signed-off-by: Vladyslav Hrynchak <[email protected]>

* Updated README Table once Jazzy jobs turn over (#4482) * add new Jazzy matrix * missing header * test toolg * retry * done! * trim * trim * fix OS[0] * shutdown services in destructor of `ClearCostmapService` (#4495) Signed-off-by: GoesM_server <[email protected]> Co-authored-by: GoesM_server <[email protected]> * adjusting backup speed to be more reasonable (#4501) * Adding Costmap filters to system tests and cleaning up old gazebo classic files (#4502) * removing old files * removing old refs to gazebo classic * porting test body * including in root * Dock panel (#4458) * Initial docking panel Signed-off-by: Alberto Tudela <[email protected]> * Only one goal status Signed-off-by: Alberto Tudela <[email protected]> * Added dock pose Signed-off-by: Alberto Tudela <[email protected]> * Fix size of text Signed-off-by: Alberto Tudela <[email protected]> * Update rviz Signed-off-by: Alberto Tudela <[email protected]> * Update rviz config Signed-off-by: Alberto Tudela <[email protected]> --------- Signed-off-by: Alberto Tudela <[email protected]> * Fix default view (#4504) * Fix logo in nav2 panel (#4505) * Fix logo in nav2 panel Signed-off-by: Alberto Tudela <[email protected]> * Move icon Signed-off-by: Alberto Tudela <[email protected]> --------- Signed-off-by: Alberto Tudela <[email protected]> * Fix world to map coordinate conversion (#4506) Signed-off-by: HovorunBh <[email protected]> * Update README.md Signed-off-by: Steve Macenski <[email protected]> * Add dock id (#4511) * Implement dock id Signed-off-by: redvinaa <[email protected]> * Update tests Signed-off-by: redvinaa <[email protected]> * Update docs Signed-off-by: redvinaa <[email protected]> * Fix virtual override error Signed-off-by: redvinaa <[email protected]> --------- Signed-off-by: redvinaa <[email protected]> * fix(nav2_costmap_2d): make obstacle layer not current on enabled toggle (#4507) Signed-off-by: Kemal Bektas <[email protected]> Co-authored-by: Kemal Bektas <[email protected]> * min_turning_r_ getting param fix (#4510) * min_turning_r_ getting param fix Signed-off-by: Ivan Radionov <[email protected]> * Update nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Ivan Radionov <[email protected]> --------- Signed-off-by: Ivan Radionov <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Ivan Radionov <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * fixing gz sim launch file by using gz directly (#4514) * port wait behavior to new gazebo (#4471) Signed-off-by: stevedan <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * Completely rewritten spin, backup, and drive on heading tests to remove flakiness (#4515) * port backup behavior to new gazebo Signed-off-by: stevedan <[email protected]> * port drive on heading behavior to new gazebo Signed-off-by: stevedan <[email protected]> * completely rewritten spin test * lint * complete flaky test rewrite --------- Signed-off-by: stevedan <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: stevedan <[email protected]> * Return out of map update if frames mismatch. Signed-off-by Joey Yang (#4517) Signed-off-by: Joey Yang <[email protected]> * Fix error_code_id (#4522) Signed-off-by: redvinaa <[email protected]> * completely shutdown dyn_params_handler_ (s) (#4521) * completely shutdown dny_params_handler_ in nav2_amcl Signed-off-by: GoesM_server <[email protected]> * completely shutdown dyn_param_handler_ in controller_server Signed-off-by: goes <[email protected]> * compeletly shutdown dyn_params_handler in nav2_costmap_2d Signed-off-by: goes <[email protected]> * compeletly shutdown dyn_param_handler in nav2_docking Signed-off-by: goes <[email protected]> * completely shutdown dyn_params_handler in nav2_velocity_smoother Signed-off-by: goes <[email protected]> * compeletly shutdown dyn_param_handler in waypoint_follower Signed-off-by: goes <[email protected]> * typo fixed Signed-off-by: goes <[email protected]> * graceful-controller & dwb_controller Signed-off-by: goes <[email protected]> * mppi-controller Signed-off-by: goes <[email protected]> * navfn_planner & regulated_..controller Signed-off-by: goes <[email protected]> * rotation_..controller & samc_planners Signed-off-by: goes <[email protected]> * A*planner Signed-off-by: goes <[email protected]> * code style Signed-off-by: goes <[email protected]> * 1 Signed-off-by: goes <[email protected]> * fixed Signed-off-by: goes <[email protected]> * fix the usage of weak_ptr Signed-off-by: goes <[email protected]> * code-style Signed-off-by: goes <[email protected]> * weak_ptr released Signed-off-by: goes <[email protected]> * code style Signed-off-by: goes <[email protected]> * code style Signed-off-by: goes <[email protected]> * code style Signed-off-by: goes <[email protected]> * code style update Signed-off-by: goes <[email protected]> * back Signed-off-by: goes <[email protected]> * rebase conflict resovled Signed-off-by: goes <[email protected]> * rebase error fixed Signed-off-by: goes <[email protected]> * fixed2 Signed-off-by: goes <[email protected]> * rebase fixed 3 Signed-off-by: goes <[email protected]> * 33 Signed-off-by: goes <[email protected]> * shared_ptr into weak_ptr Signed-off-by: GoesM <[email protected]> * remove adundant node.resest() Signed-off-by: GoesM <[email protected]> --------- Signed-off-by: GoesM_server <[email protected]> Signed-off-by: goes <[email protected]> Signed-off-by: GoesM <[email protected]> Co-authored-by: GoesM_server <[email protected]> * check nullptr in smoothPlan() (#4544) * check nullptr in smoothPlan() Signed-off-by: GoesM <[email protected]> * code-style Signed-off-by: GoesM <[email protected]> * code-style Signed-off-by: GoesM <[email protected]> * simple change Signed-off-by: GoesM <[email protected]> --------- Signed-off-by: GoesM <[email protected]> Co-authored-by: GoesM <[email protected]> * check nullPtr in `computeControl()` (#4548) Signed-off-by: goes <[email protected]> Co-authored-by: goes <[email protected]> * Straight analytic expansions (#4549) * Add test to verify analytic expansions are straight Signed-off-by: James Ward <[email protected]> * Use continuous scaling of angle when performing analytic expansion Only applies to Hybrid A* - behaviour in lattice planner is unchanged Signed-off-by: James Ward <[email protected]> --------- Signed-off-by: James Ward <[email protected]> * Rviz tool to get cost of costmap cell (#4546) * Added GetCost srv Signed-off-by: Jatin Patil <[email protected]> * Added Service in costmap_2d Signed-off-by: Jatin Patil <[email protected]> * Added Rviz tool Signed-off-by: Jatin Patil <[email protected]> * Fixed Styling Signed-off-by: Jatin Patil <[email protected]> * Fixed Styles and Linting Signed-off-by: Jatin Patil <[email protected]> * Fixed Linting Signed-off-by: Jatin Patil <[email protected]> * Added Bool use_footprint to srv Signed-off-by: Jatin Patil <[email protected]> * Added unit test for costmap costcell cost service Signed-off-by: Jatin Patil <[email protected]> * Fixed unit test script Signed-off-by: Jatin Patil <[email protected]> * Added theta, Updated unit test, Updated rviz tool service call logic Signed-off-by: Jatin Patil <[email protected]> * Updated requested changes Signed-off-by: Jatin Patil <[email protected]> --------- Signed-off-by: Jatin Patil <[email protected]> * Switch to new-style static_transform_publisher arguments. (#4563) These arguments have been the preferred way to use things since at least Humble. This avoids warnings when running it for the tests. Signed-off-by: Chris Lalancette <[email protected]> * Updated slack link (#4565) Signed-off-by: Steve Macenski <[email protected]> * Update README.md (#4589) Signed-off-by: Steve Macenski <[email protected]> * fix flickering visualization (#4561) * Fix Flickering visualization Signed-off-by: Vladyslav Hrynchak <[email protected]> * Refactoring Costmap2DPublisher and Costmap2DROS Signed-off-by: Vladyslav Hrynchak <[email protected]> * Refactoring costmap_2d_ros.cpp Signed-off-by: Vladyslav Hrynchak <[email protected]> * Refactoring Costmap2DPublisher and Costmap2DROS Signed-off-by: Vladyslav Hrynchak <[email protected]> * Update costmap_2d_publisher.cpp Signed-off-by: Vladyslav Hrynchak <[email protected]> * Change map_vis_z from float to double Signed-off-by: Vladyslav Hrynchak <[email protected]> * Add comment to map_vis_z_ parameter Signed-off-by: Vladyslav Hrynchak <[email protected]> --------- Signed-off-by: Vladyslav Hrynchak <[email protected]> * Copy fix-terminate diff from opennav_docking repo (#4598) * Copy fix-terminate diff from opennav_docking repo Signed-off-by: redvinaa <[email protected]> * Lint Signed-off-by: redvinaa <[email protected]> --------- Signed-off-by: redvinaa <[email protected]> * Fix race condition in AMCL for #4537 (#4605) * Fixed timed_behavior.hpp (#4602) Signed-off-by: Vladyslav Hrynchak <[email protected]> * Adding new Nav2 loopback simulator (#4614) * adding Nav2 loopback sim Signed-off-by: Steve Macenski <[email protected]> * drop performance by half * lintin * Add multirobot usecase comment * fixing copy paste error * fixing review comments --------- Signed-off-by: Steve Macenski <[email protected]> * Added laser data from map in nav2_loopback_sim (#4617) * Added laser data from map Signed-off-by: Jatin Patil <[email protected]> * Fixed Linting Signed-off-by: Jatin Patil <[email protected]> * Fixed Linting Signed-off-by: Jatin Patil <[email protected]> * Fixed few requested changes Signed-off-by: Jatin Patil <[email protected]> * Fixed linting Signed-off-by: Jatin Patil <[email protected]> * Requested changes Signed-off-by: Jatin Patil <[email protected]> * Linting Signed-off-by: Jatin Patil <[email protected]> * Added parameters and fixed requested changes Signed-off-by: Jatin Patil <[email protected]> * linting Signed-off-by: Jatin Patil <[email protected]> * Added scan using LineIterator Signed-off-by: Jatin Patil <[email protected]> * LineIterator max_distance or range_max Signed-off-by: Jatin Patil <[email protected]> * min of max_distance or range_max Signed-off-by: Jatin Patil <[email protected]> * final updates working correctly Signed-off-by: Jatin Patil <[email protected]> * Fix lint Signed-off-by: Jatin Patil <[email protected]> * requested changes Signed-off-by: Jatin Patil <[email protected]> * Update nav2_loopback_sim/nav2_loopback_sim/loopback_simulator.py Signed-off-by: Steve Macenski <[email protected]> * Update nav2_loopback_sim/nav2_loopback_sim/loopback_simulator.py Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Jatin Patil <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * Making base frame ID for map to base link transform based on base frame ID parameter (#4632) Signed-off-by: Steve Macenski <[email protected]> * Update Smac Planner for rounding to closest bin rather than flooring (#4636) * adding stamped option for loopbacks im (#4637) Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: GoesM_server <[email protected]> Signed-off-by: Alberto Tudela <[email protected]> Signed-off-by: HovorunBh <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: redvinaa <[email protected]> Signed-off-by: Kemal Bektas <[email protected]> Signed-off-by: Ivan Radionov <[email protected]> Signed-off-by: stevedan <[email protected]> Signed-off-by: Joey Yang <[email protected]> Signed-off-by: goes <[email protected]> Signed-off-by: GoesM <[email protected]> Signed-off-by: James Ward <[email protected]> Signed-off-by: Jatin Patil <[email protected]> Signed-off-by: Chris Lalancette <[email protected]> Signed-off-by: Vladyslav Hrynchak <[email protected]> Co-authored-by: GoesM <[email protected]> Co-authored-by: GoesM_server <[email protected]> Co-authored-by: Alberto Tudela <[email protected]> Co-authored-by: Bohdan <[email protected]> Co-authored-by: Vince Reda <[email protected]> Co-authored-by: Kemal Bektas <[email protected]> Co-authored-by: Kemal Bektas <[email protected]> Co-authored-by: Ivan Radionov <[email protected]> Co-authored-by: Ivan Radionov <[email protected]> Co-authored-by: Stevedan Ogochukwu Omodolor <[email protected]> Co-authored-by: stevedan <[email protected]> Co-authored-by: Joey Yang <[email protected]> Co-authored-by: James Ward <[email protected]> Co-authored-by: Jatin Patil <[email protected]> Co-authored-by: Chris Lalancette <[email protected]> Co-authored-by: Vladyslav Hrynchak <[email protected]>

VladyslavHrynchak200204 added 4 commits July 25, 2024 13:31

Fix Flickering visualization

87e8cc9

Signed-off-by: Vladyslav Hrynchak <[email protected]>

Refactoring Costmap2DPublisher and Costmap2DROS

45dbb67

Signed-off-by: Vladyslav Hrynchak <[email protected]>

Refactoring costmap_2d_ros.cpp

f911fe4

Signed-off-by: Vladyslav Hrynchak <[email protected]>

Refactoring Costmap2DPublisher and Costmap2DROS

f1b1bfe

Signed-off-by: Vladyslav Hrynchak <[email protected]>

VladyslavHrynchak200204 force-pushed the logivations/fix_flickering_visualization branch from 89f43fc to f1b1bfe Compare July 25, 2024 10:31

Merge branch 'main' into logivations/fix_flickering_visualization

96e6537

Signed-off-by: Vladyslav Hrynchak <[email protected]>

VladyslavHrynchak200204 changed the title ~~Logivations/fix flickering visualization~~ fix flickering visualization Jul 25, 2024

Update costmap_2d_publisher.cpp

3bf69bf

Signed-off-by: Vladyslav Hrynchak <[email protected]>

VladyslavHrynchak200204 force-pushed the logivations/fix_flickering_visualization branch from 6ace864 to 3bf69bf Compare July 29, 2024 07:57

VladyslavHrynchak200204 force-pushed the logivations/fix_flickering_visualization branch from 2058054 to fd0f756 Compare July 29, 2024 10:04

VladyslavHrynchak200204 force-pushed the logivations/fix_flickering_visualization branch 12 times, most recently from 3d137f9 to 8b2ba75 Compare July 30, 2024 07:54

VladyslavHrynchak200204 force-pushed the logivations/fix_flickering_visualization branch 4 times, most recently from 30dac64 to fd0f756 Compare July 30, 2024 10:16

VladyslavHrynchak200204 force-pushed the logivations/fix_flickering_visualization branch 3 times, most recently from f601192 to 3bf69bf Compare July 30, 2024 11:04

SteveMacenski reviewed Jul 30, 2024

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Change map_vis_z from float to double

35a6cbd

Signed-off-by: Vladyslav Hrynchak <[email protected]>

VladyslavHrynchak200204 force-pushed the logivations/fix_flickering_visualization branch 2 times, most recently from 01620ce to bea10b3 Compare July 31, 2024 08:02

VladyslavHrynchak200204 mentioned this pull request Jul 31, 2024

Fix flickering visualization ros-navigation/docs.nav2.org#578

Merged

VladyslavHrynchak200204 requested a review from SteveMacenski July 31, 2024 11:14

SteveMacenski approved these changes Jul 31, 2024

View reviewed changes

VladyslavHrynchak200204 force-pushed the logivations/fix_flickering_visualization branch from bea10b3 to 9cd3c9c Compare August 2, 2024 06:46

Add comment to map_vis_z_ parameter

29fafb5

Signed-off-by: Vladyslav Hrynchak <[email protected]>

VladyslavHrynchak200204 force-pushed the logivations/fix_flickering_visualization branch from 9cd3c9c to 29fafb5 Compare August 2, 2024 07:15

Merge branch 'ros-navigation:main' into logivations/fix_flickering_vi…

c43c1fc

…sualization

SteveMacenski merged commit f956626 into ros-navigation:main Aug 2, 2024
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fix flickering visualization #4561

fix flickering visualization #4561

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fix flickering visualization #4561

fix flickering visualization #4561

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