planner_3d: add an option to trigger planning by costmap updates #727
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Codecov Report
@@ Coverage Diff @@
## master #727 +/- ##
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- Coverage 88.92% 88.66% -0.26%
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Files 62 62
Lines 4596 4615 +19
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+ Hits 4087 4092 +5
- Misses 509 523 +14
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at-wat
changed the title
at-wat
reviewed
Nov 1, 2023
| @@ -191,6 +193,46 @@ class DynamicParameterChangeTest | |||
| pub_map_overlay_.publish(map_overlay_); | |||
| } | |||
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| double getAveragePathInterval(const ros::Duration costmap_publishing_interval) | |||
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Suggested change
| double getAveragePathInterval(const ros::Duration costmap_publishing_interval) | |
| double getAveragePathInterval(const ros::Duration &costmap_publishing_interval) |
planner_cspace/src/planner_3d.cpp
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| @@ -721,12 +723,8 @@ class Planner3dNode | |||
| previous_path_ = path; | |||
| } | |||
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| void cbMapUpdate(const costmap_cspace_msgs::CSpace3DUpdate::ConstPtr msg) | |||
| void applyCostmapUpdate(const costmap_cspace_msgs::CSpace3DUpdate::ConstPtr msg) | |||
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Suggested change
| void applyCostmapUpdate(const costmap_cspace_msgs::CSpace3DUpdate::ConstPtr msg) | |
| void applyCostmapUpdate(const costmap_cspace_msgs::CSpace3DUpdate::ConstPtr &msg) |
planner_cspace/src/planner_3d.cpp
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| no_map_update_timer_ = | ||
| nh_.createTimer(costmap_watchdog_, &Planner3dNode::cbNoMapUpdateTimer, this, true); | ||
| } | ||
| void cbMapUpdate(const costmap_cspace_msgs::CSpace3DUpdate::ConstPtr msg) |
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Suggested change
| void cbMapUpdate(const costmap_cspace_msgs::CSpace3DUpdate::ConstPtr msg) | |
| void cbMapUpdate(const costmap_cspace_msgs::CSpace3DUpdate::ConstPtr &msg) |
planner_cspace/src/planner_3d.cpp
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| updateStart(); | ||
| if (jump_.detectJump()) | ||
| { | ||
| bbf_costmap_.clear(); | ||
| // Robot pose jumped. | ||
| } |
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As jump detector has constant threshold, effective jump detection threshold differs if costmap update interval is not constant.
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Moved in spin(). It will be called at 100hz.
… add-plan-after-costmap-received
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nhatao
commented
Nov 2, 2023
| @@ -826,6 +823,7 @@ class Planner3dNode | |||
| } | |||
| } | |||
| } | |||
| map_update_retained_ = nullptr; | |||
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This change is needed because msg is changed to a reference. map_update_retained_ can be the same as msg, so map_update_retained_ should be kept until msg is processed.
[540] PASSED on noeticAll tests passed |
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When
trigger_plan_by_costmap_updateoption is true,planner_3dmakes a new path soon after CSpace3DUpdate message is subscribed.With this option, the updates of the costmap are reflected in path planning quickly.