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Adding disengagement threshold to rotation shim controller (backport #4699) #4700

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merged 1 commit into from
Oct 2, 2024
Merged

Adding disengagement threshold to rotation shim controller (backport #4699) #4700

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4 changes: 2 additions & 2 deletions ...n_shim_controller/include/nav2_rotation_shim_controller/nav2_rotation_shim_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -172,10 +172,10 @@ class RotationShimController : public nav2_core::Controller
nav2_core::Controller::Ptr primary_controller_;
bool path_updated_;
nav_msgs::msg::Path current_path_;
double forward_sampling_distance_, angular_dist_threshold_;
double forward_sampling_distance_, angular_dist_threshold_, angular_disengage_threshold_;
double rotate_to_heading_angular_vel_, max_angular_accel_;
double control_duration_, simulate_ahead_time_;
bool rotate_to_goal_heading_;
bool rotate_to_goal_heading_, in_rotation_;

// Dynamic parameters handler
std::mutex mutex_;
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14 changes: 12 additions & 2 deletions nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,8 @@ namespace nav2_rotation_shim_controller
RotationShimController::RotationShimController()
: lp_loader_("nav2_core", "nav2_core::Controller"),
primary_controller_(nullptr),
path_updated_(false)
path_updated_(false),
in_rotation_(false)
{
}

Expand All @@ -51,6 +52,8 @@ void RotationShimController::configure(
double control_frequency;
nav2_util::declare_parameter_if_not_declared(
node, plugin_name_ + ".angular_dist_threshold", rclcpp::ParameterValue(0.785)); // 45 deg
nav2_util::declare_parameter_if_not_declared(
node, plugin_name_ + ".angular_disengage_threshold", rclcpp::ParameterValue(0.785 / 2.0));
nav2_util::declare_parameter_if_not_declared(
node, plugin_name_ + ".forward_sampling_distance", rclcpp::ParameterValue(0.5));
nav2_util::declare_parameter_if_not_declared(
Expand All @@ -65,6 +68,7 @@ void RotationShimController::configure(
node, plugin_name_ + ".rotate_to_goal_heading", rclcpp::ParameterValue(false));

node->get_parameter(plugin_name_ + ".angular_dist_threshold", angular_dist_threshold_);
node->get_parameter(plugin_name_ + ".angular_disengage_threshold", angular_disengage_threshold_);
node->get_parameter(plugin_name_ + ".forward_sampling_distance", forward_sampling_distance_);
node->get_parameter(
plugin_name_ + ".rotate_to_heading_angular_vel",
Expand Down Expand Up @@ -106,6 +110,7 @@ void RotationShimController::activate()
plugin_name_.c_str());

primary_controller_->activate();
in_rotation_ = false;

auto node = node_.lock();
dyn_params_handler_ = node->add_on_set_parameters_callback(
Expand Down Expand Up @@ -192,10 +197,14 @@ geometry_msgs::msg::TwistStamped RotationShimController::computeVelocityCommands

double angular_distance_to_heading =
std::atan2(sampled_pt_base.position.y, sampled_pt_base.position.x);
if (fabs(angular_distance_to_heading) > angular_dist_threshold_) {

double angular_thresh =
in_rotation_ ? angular_disengage_threshold_ : angular_dist_threshold_;
if (abs(angular_distance_to_heading) > angular_thresh) {
RCLCPP_DEBUG(
logger_,
"Robot is not within the new path's rough heading, rotating to heading...");
in_rotation_ = true;
return computeRotateToHeadingCommand(angular_distance_to_heading, pose, velocity);
} else {
RCLCPP_DEBUG(
Expand All @@ -214,6 +223,7 @@ geometry_msgs::msg::TwistStamped RotationShimController::computeVelocityCommands
}

// If at this point, use the primary controller to path track
in_rotation_ = false;
return primary_controller_->computeVelocityCommands(pose, velocity, goal_checker);
}

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