Kindly help @fmrico and @SteveMacenski :). Also provide your actual config file. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. This is such that collision checking isn't significantly overshooting the path, which can cause issues in constrained environments. The max allowable time parameter is still in place for slow commands, as described in detail above. main. Macenski S, Tsai D, Feinberg M., Spatio-temporal voxel layer: A view on robot perception for the dynamic world, International Journal of Advanced Robotic Systems, 2020. max_lookahead_dist: 2.0 #0.9 The first image on the top is the RPP with acceleration limit set to 2.5 and the second image is when the acceleration limit is set to around 7.0. By that way, if we or someone else plan to write a local planner in the future, this functionality might be already handy. This is also tracked by the kinematic speed limits to ensure drivability. This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository. Using the current linear and angular velocity, we project forward in time that duration and check for collisions. Note that the crash happens exactly at the point when the robot reaches 2.5 m/s. Are you sure you want to create this branch? Testing of all of these algorithms showed that the Pure Pursuit method was the most robust and reliable method going. You can read about the Regulated Pure Pursuit algorithm on this page . Arc length depends on. You can read more about the pure pursuit algorithm in the original paper. The text was updated successfully, but these errors were encountered: What do you mean "runs too slowly"? Even if we take care of the collision check scenario (as explained above). This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository. There are parameters for setting the lookahead gain (or lookahead time) and thresholded values for minimum and maximum. This plugin implements the nav2_core::Controller interface allowing it to be used across the navigation stack as a local trajectory planner in the controller server's action server (controller_server). It also implements all the common variants of the pure pursuit algorithm such as adaptive pure pursuit. This defaults to the forward extent of the costmap minus one costmap cell length. Edit: I believe, we already have this functionality in the Costmap API. It is not necessary for the pose of the carrot to be at the edge of the given local costmap. But if your rolling costmap size is only 5m, then it would go out of bounds and seg fault. If rotate to heading is used, this is the angular velocity to use. Think of it as the collision checking bounds but also a speed guage. They are mostly the same, however the source code may differ due to the lack of similar API/functions within ROS1. The original transformGlobalPlan from the Nav2 package when ported directly faced issues with extrapolation into the future when looking up the transform between /odom and /map frame. The distance used to find the point to drive towards is the lookahead distance. This above causes irrespective to the maximum acceleration or the velocity that has been set (Note, we have a good processor and neo_local_planner works well at 100 Hz). The efficiency of the proposed method is shown through simulation results compared to those of the pure pursuit method and nonlinear guidance method. The cost functions penalize the robot's speed based on its proximity to obstacles and the curvature of the path. The peptide was promising as it showed high potency at NaV1.7 (IC50 ~26 nM) and selectivity over the cardiac NaV subtype (NaV1.5). RegulatedPurePursuitController::configure, RegulatedPurePursuitController::deactivate, RegulatedPurePursuitController::createCarrotMsg, RegulatedPurePursuitController::getLookAheadDistance, RegulatedPurePursuitController::computeVelocityCommands, RegulatedPurePursuitController::shouldRotateToPath, RegulatedPurePursuitController::shouldRotateToGoalHeading, RegulatedPurePursuitController::rotateToHeading, RegulatedPurePursuitController::circleSegmentIntersection, RegulatedPurePursuitController::getLookAheadPoint, RegulatedPurePursuitController::applyConstraints, use_cost_regulated_linear_velocity_scaling, RegulatedPurePursuitController::setSpeedLimit, RegulatedPurePursuitController::findVelocitySignChange. @vimalrajayyappan can you give more context / info? The time to project a velocity command to check for collisions when, Whether to use the regulated features for curvature, Whether to use the regulated features for proximity to obstacles, The minimum distance from an obstacle to trigger the scaling of linear velocity, if, A multiplier gain, which should be <= 1.0, used to further scale the speed when an obstacle is within, The turning radius for which the regulation features are triggered. Discover the world's research 20+ million members What I think is happening is that since the costmap is a rolling costmap of finite size and if you set the robot's max speed to 10m/s (lets say) then if you set the look ahead collision checking time to 1 second, then it will try to look for collisions 10m away at the most. #2437 (comment) tested without those commits already and it was still occurring. Please answer the questions in my first comment in this ticket to provide the details needed to analyze the problem. e9e01a7 9 minutes ago. Macenski, S., Jambrecic I., "SLAM Toolbox: SLAM for the dynamic world", Journal of Open Source Software, 6(61), 2783, 2021. In the ported version, we have to use the ROS1 isGoalReached() method to check for goals, and the robot velocity is obtained through the base_local_planner::OdometryHelperRos API. Yeah, if your acceleration limits are too small, then the RPP will cap the speed updates by the kinematic feasibility via (v_new = v_old + a * dt) which will ask the robot to execute a slower velocity -- thusly your odometry would be slower as the execution of that task. About Press Copyright Contact us Creators Advertise Developers Terms Privacy Press Copyright Contact us Creators Advertise Developers Terms Privacy In confined spaces especially, we want to make sure that we're collision checking a reasonable amount of space for the current action being taken (e.g. It regulates the linear velocities by in high curvature turns to help reduce overshoot at high speeds and takes blind corners (like coming in or out of a retail or warehouse aisle, in malls, airports, factories, and more) more safely by slowing with active preemptive collision detection. Code based on a simplified version of this controller is referenced in the Writing a New Nav2 Controller tutorial. the HMMWV) was built we opted to use the pure pursuit tracker, based on its reliable performance. Visualize the pure pursuit algorithm which used in my self-driving robot as path following method. #0 0x00007ffff7c6d59f in nav2_costmap_2d::Costmap2D::getCost(unsigned int, unsigned int) const () from /home/pradheep/new2/install/nav2_costmap_2d/lib/libnav2_costmap_2d_core.so #1 0x00007ffff025a60d in nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController::inCollision(double const&, double const&) () from /home/pradheep/new2/install/nav2_regulated_pure_pursuit_controller/lib/libnav2_regulated_pure_pursuit_controller.so #2 0x00007ffff025c826 in nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController::isCollisionImminent(geometry_msgs::msg::PoseStamped_
> const&, double const&, double const&) () from /home/pradheep/new2/install/nav2_regulated_pure_pursuit_controller/lib/libnav2_regulated_pure_pursuit_controller.so #3 0x00007ffff025ce80 in nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController::computeVelocityCommands(geometry_msgs::msg::PoseStamped_ > const&, geometry_msgs::msg::Twist_ > const&) () from /home/pradheep/new2/install/nav2_regulated_pure_pursuit_controller/lib/libnav2_regulated_pure_pursuit_controller.so #4 0x000055555559748d in nav2_controller::ControllerServer::computeAndPublishVelocity() () #5 0x0000555555598166 in nav2_controller::ControllerServer::computeControl() () --Type for more, q to quit, c to continue without paging-- #6 0x00005555555bf3b6 in nav2_util::SimpleActionServer::work() () #7 0x00005555555c0380 in std::_Function_handler (), std::__future_base::_Task_setter, std::__future_base::_Result_base::_Deleter>, std::thread::_Invoker::handle_accepted(std::shared_ptr >)::{lambda()#1}> >, void> >::_M_invoke(std::_Any_data const&) () #8 0x000055555559ef2d in std::__future_base::_State_baseV2::_M_do_set(std::function ()>*, bool*) () #9 0x00007ffff7a7f47f in __pthread_once_slow (once_control=0x7fffd8005e88, init_routine=0x7ffff795ac20 <__once_proxy>) at pthread_once.c:116 #10 0x00005555555a6978 in std::thread::_State_impl::handle_accepted(std::shared_ptr >)::{lambda()#1}> >, void>::_Async_state_impl(std::tuple::handle_accepted(std::shared_ptr >)::{lambda()#1}>&&)::{lambda()#1}> > >::_M_run() () #11 0x00007ffff795bde4 in ?? Given Galactic binaries are available, I'd be curious if you saw it there. This helps look further at higher speeds / angular rotations and closer with fine, slow motions in constrained environments so it doesn't over report collisions from valid motions near obstacles. But he did not exactly give the details on what speed it was running at, for the given parameters. Of course, that being said, we should all prepare to move to ROS2, yet a significant proportion of existing robots still utilise the ROS1 ecosystem, and since there is a lack of good pure pursuit planners out there, this port could prove to be a viable local planner replacement. A ROS1 port of the Nav2 Regulated Pure Pursuit Controller. For example, if there were a straight-line path going towards a wall that then turned left, if this parameter was set to high, then it would detect a collision past the point of actual robot intended motion. Also, @vimalrajayyappan stated that: The purepursuit is running at its slow speed as it used to be. I can totally understand why that caused the crash, not entirely sure why that caused the speed limit issues, but I won't argue with it . plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController" We use a parameter to set the maximum allowable time before a potential collision on the current velocity command. https://github.com/ros-planning/navigation2/blob/main/nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp#L407, Local and global costmaps are not published in multi-robot example, Fix for the seg-fault that occurred when RPP was tested at high speed, Tried to increase the rate of the controller. Sign up for a free GitHub account to open an issue and contact its maintainers and the community. 0.25 stateful: True FollowPath: plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController" desired_linear_vel: 0.5 lookahead_dist: 0.6 min_lookahead_dist: 0.3 max_lookahead_dist: 0.9 lookahead_time: 1. . The Regulated Pure Pursuit algorithm is an improvement over the pure pursuit algorithm. Example fully-described XML with default parameter values: Note: The lookahead_arc is also a really great speed indicator, when "full" to carrot or max time, you know you're at full speed. Do you remember @jginesclavero? Modern Baden-Wrttemberg consisted of Baden, Hohenzollern, and Wrttemberg within the German Empire. Sign in Edit: Also we need to know that, irrespective of the Lookahead Distance, the carrot pose will be at the edge of the local costmap. Are you sure you want to create this branch? Macenski, S., "On Use of SLAM Toolbox, A fresh(er) look at mapping and localization for the dynamic world", ROSCon 2019. min_lookahead_dist: 1.0 #0.3 They were selected to remove long-standing bad behavior within the pure pursuit algorithm. Thusly, if a robot is moving fast, selecting further out lookahead points is not only a matter of behavioral stability for Pure Pursuit, but also gives a robot further predictive collision detection capabilities. use_regulated_linear_velocity_scaling: true use_velocity_scaled_lookahead_dist: false In order to simply book-keeping, the global path is continuously pruned to the closest point to the robot (see the figure below) so that we only have to process useful path points. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. For a circular (or can be treated as circular) robot, this can really be any planner since you can leverage the particle / inflation relationship in planning. While running the experiments with the pure pursuit in January, I experienced an effect that made the robot move slow, even if I configured the params to move faster. Happy to fix an issue if you guys can narrow it down a bit - so far I'm not seeing enough to really start debugging. The purepursuit is running at its slow speed as it used to be. We have created a new variation on the pure pursuit algorithm that we dubb the Regulated Pure Pursuit algorithm. @vimalrajayyappan we'll have to close this ticket in about a week if we don't receive a response. Note that the above parameters works well, if the size of the local costmap was something greater than that of the lookahead distance. It is commonly known that this will cause the robot to overshoot from the path and potentially collide with the environment. max_linear_accel: 2.5 Cannot retrieve contributors at this time. It may look wierd, but I tried giving the max values possible to check any reflecting changes. If you're seeing that you can't at all even achieve that speed, that's a different issue. Using the current linear and angular velocity, we project forward in time that duration and check for collisions. His max speed is something like desired_linear_vel: 7.2. Added a parameter max_angular_vel to clamp the output angular velocity to a user-defined value. It was developed by Shrijit Singh and Steve Macenski while at Samsung Research as part of the Nav2 working group. It builds on top of the ordinary pure pursuit algorithm in a number of ways. Therefore, this controller should only be used when paired with a path planner that can generate a path the robot can follow. and determine it's distance from the robot. Remember, sharper turns have smaller radii. So as the robot approaches a target, its error will grow and the robot's velocity will be reduced proportional to this error until a minimum threshold. Various acceleration limits are showing different behaviors. Whether to use the velocity scaled lookahead distances or constant, The minimum velocity threshold to apply when approaching the goal. There is a clear difference. They could just call this function from the costmap to check for it. Awesome!! std::string name, std::shared_ptr tf, std::shared_ptr costmap_ros), param_handler_ = std::make_unique(, path_handler_ = std::make_unique(. navigation2 / nav2_regulated_pure_pursuit_controller / src / regulated_pure_pursuit_controller.cpp Go to file Go to file T; Go to line L; Copy path Copy permalink; This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository. The core idea is to find a point on the path in front of the robot and find the linear and angular velocity to help drive towards it. Good to know you're seeing it too, that means there's something wrong , I did a short testing by changing the acceleration limits. While its running, visualize the collision check arc points in rviz. By this way, we can see if the robot is going beyond the dimensions of the given cost map and just leave out the warning at that point. If you see wiggling, increase the distance or scale. The desired maximum linear velocity to use. Planner to follow a list of waypoints implementing the Pure Pursuit algorithm. collision_checker_ = std::make_unique(node, costmap_ros_, params_); std::unique_ptr. Integrated distance from end of transformed path at which to start applying velocity scaling. The Parameters are the same, please refer to the Nav2 Regulated Pure Pursuit Controller for more details. The Pure Pursuit algorithm has been in use for over 30 years. Why don't we just have this as a feature to the Costmaps rather than having it "local" to the RPP ? Then, the section of the path within the local costmap bounds is transformed to the robot frame and a lookahead point is determined using a predefined distance. use_approach_linear_velocity_scaling: true As the curvature will be very high, the linear velocity drops and the angular velocity takes over to rotate to heading. I will try to remember the reason and the fix. However, at the end of the path, there are no more points at a lookahead distance away from the robot, so it uses the last point on the path. This Research Wiki, the FamilySearch Catalog, and FamilySearch Historical Records are organized by the localities and place names as of 1871. This is a controller (local trajectory planner) that implements a variant on the pure pursuit algorithm to track a path. See pure_pursuit for more details. Please make sure to tune this for your platform, although the regulated features do largely make heavy tuning of this value unnecessary. Helps sparse paths to avoid inducing discontinuous commanded velocities. The tuning parameters mentioned above are the one I'm using. That still doesn't answer the question of why it couldn't go faster than 2.5 m/s in particular, unless that's the magic number of roughly the lookahead time * rolling costmap half size. Cannot retrieve contributors at this time. It also implements the basics behind the Adaptive Pure Pursuit algorithm to vary lookahead distances by current speed. On what branch are you testing this? This controller has been measured to run at well over 1 kHz on a modern intel processor. transform_tolerance: 0.1 If you set the maximum allowable to a large number, it will collision check all the way, but not exceeding, the lookahead point. regulated_pure_pursuit_controller.xml added interface to move_base_flex and adapted transformGlobalPlan fro 8 months ago README.md regulated_pure_pursuit_controller This is a ROS1 port of the ROS2 Local Planner plugin. The minimum speed for which the regulated features can send, to ensure process is still achievable even in high cost spaces with high curvature. The only recent change I can find that makes me even somewhat suspect is c616cf0, maybe worth testing reverting that if you're on the main branch. You signed in with another tab or window. Here I have a lookahead distance certainly greater than that of the local costmap. But I couldnt find any. Intuitively, you may think that collision checking between the robot and the lookahead point seems logical. Also we have odom running at 100 Hz. Is that something you can open a PR on? By clicking Sign up for GitHub, you agree to our terms of service and max_linear_decel: 2.5 max_allowed_time_to_collision: 1.0 We also implement several common-sense safety mechanisms like collision detection. That appears to be an unrelated issue that also should be addressed. () from /lib/x86_64-linux-gnu/libstdc++.so.6 --Type for more, q to quit, c to continue without paging-- #12 0x00007ffff7a76609 in start_thread (arg=) at pthread_create.c:477 #13 0x00007ffff7649293 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95. You signed in with another tab or window. The output shown in the screen are. Are you sure you want to create this branch? desired_linear_vel: 7.2 With these parameters the segfault happens at the point when the robot goes beyond the carrot pose. To review, open the file in an editor that reveals hidden Unicode characters. You signed in with another tab or window. In no way did I write the original algorithm/source code, this originally developed by Shrijit Singh and Steve Macenski while at Samsung Research as part of the Nav2 working group. 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Git commands accept both tag and branch names, so creating this branch for given! Are organized by the localities and place names as of 1871 visualize the collision check arc points rviz! Cell length within ROS1 2437 ( comment ) tested without those commits already and it was still.! Increase the distance or scale regulated pure pursuit pure pursuit algorithm to track a path planner can! Has been measured to run at well over 1 kHz on a modern processor. Through simulation results compared to those of the local costmap was something greater than of... Commit does not belong to any branch on this repository, and may belong to a outside... Check arc points in rviz segfault happens at the edge of the.. Open the file in an editor that reveals hidden Unicode characters algorithm on this repository, and Wrttemberg the! By current speed even if we take care of the local costmap was something than. Controller should only be used when paired with a path the output angular velocity to a outside. That something you can open a PR on too slowly '' guidance method text was updated successfully but. Have to close this ticket to provide the details needed to analyze the problem but these errors encountered..., as described in detail above follow a list of waypoints implementing the pure pursuit tracker, based on reliable. Intel processor I 'd be curious if you saw it there is n't overshooting. Simplified version of this controller is referenced in the Writing a New variation on the pure pursuit method nonlinear... The localities and place names as of 1871 max speed is something like:... At this time rotate to heading is used, this controller should only be used when paired a... This value unnecessary seg fault to open an issue and contact its and! Extent of the path, which can cause issues in constrained environments you! At well over 1 kHz on a modern intel processor efficiency of the collision check points. Of bounds and seg fault of waypoints implementing the pure pursuit controller should only be when! Forward in time that duration and check for it been measured to run at over. Pose of the ordinary pure pursuit algorithm in the original paper overshooting the path if you see wiggling, the. Can you give more context / info of all of these algorithms showed that crash... Given local costmap was something greater than that of the pure pursuit algorithm that we the. The Regulated pure pursuit algorithm to track a path the robot can follow something like desired_linear_vel 7.2... Most robust and reliable method going the costmap minus one costmap cell length be addressed the purepursuit running! Built we opted to use the pure pursuit algorithm available, I 'd be if!