Package Summary

Tags No category tags.
Version 0.4.1
License GPL 3
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/AravindaDP/humanoid_navigation.git
VCS Type git
VCS Version indigo-devel
Last Updated 2018-04-17
Dev Status DEVELOPED
Released RELEASED

Package Description

Additional Links

Maintainers

  • Armin Hornung
  • Pramuditha Aravinda

Authors

  • Johannes Garimort, Armin Hornung
README
No README found. See repository README.
CHANGELOG

Changelog for package footstep_planner

0.4.1 (2016-09-05)

  • Added include files for footstep_planner and gridmap_2d for install.
  • uses double 2.0 and makes style locally consistent
  • catkinize the stack
  • Add service to (re)plan between feet as start and goal.
  • Requires newest humanoid_msgs.
  • Merge plan and replan functions
  • RViz launch file / config Groovy
  • mark heuristic as expired when map is updated
  • removed code in the destructor that gets already cleaned up in the super class
  • use pre-increment instead of post-increment (faster + post-increment for iterators not always optimizable)
  • fixed sbpl exception catch
  • introduced new functionality to totally reset the planning environment
  • storing environment params in new struct -- get rid of unnecessary member variables
  • more detailed information when sbpl planning was successful but only the old path is returned
  • wait 0.5 sec before updating the start (robot) pose
  • bug fix in path cost heuristic
  • make footsteps smaller; + std::max
  • handle receiving of foot transformations differently
  • implemented the polygon-intersection-check for the navigation as well; not used so far due to some usability issues
  • bug resolved: free the execution log when planning failed; use ros::Time(0) instead of ros::Time::now() since when using the latter sometimes the tf cannot be received (now sometimes an outdated step is received but this works better anyhow)
  • bug resulting in segfaulting thread now (probably) resolved
  • replaced old reachable check by a new more smoother grid based approach
  • small fix in the replanning logic
  • enforce planning from scratch when necessary (e.g. goal changed when using backward planning)
  • added assertion to enforce correct heuristic calculation
  • applied ROS code style
  • reorganized the way FootstepNavigation invokes the planner and starts the execution; changed FootstepPlanner::updateMap
  • Contributors: Armin Hornung, Johannes Garimort, Pramuditha Aravinda, Vincent Rabaud, enriquefernandez

0.4.0 (2013-01-10)

  • Updated stack.xml & CMakeLists, new version 0.4.0 to release
  • adjusted robot translation in z dir
  • footstep execution now aborted when map changes + replanning and new execution is started; again use ALL calculated steps when extracting the path
  • Changes in R* launch file params
  • using only the new launch file from pkg nao_driver
  • Fixed odometry lookup error (wrong frame)
  • Indenting / code style according to ROS style
  • fixed SBPL in CMakeListe for custom-installed location
  • fixed out of map check in R*
  • cleanup of R* code
  • manifest/CMakeLists now compatible with fuerte and electric compilation, includes should work better now
  • integrated the new footstep set
  • fix: spelling error (don\'t forget to update nao_driver and humanoid_nav_msgs)
  • navigation parameters in extra config file; using new launch file in nao_driver
  • handle situations where both start feet are part of the calculated solution
  • method rearrangement in the navigation
  • got rid of get_footstep in helper
  • added test to check whether all footsteps can be performed by the NAO robot; adjusted invalid footstep
  • now able to switch between protective and fast footstep execution via the \'protective_execution\' param + various smaller changes
  • Finished fluid footstep execution for the NAO; has still to be tested for simulation/real robot
  • added footstep_planner_walls to read in separate wall map (larger clearing)
  • expanded states is now a hash map on x,y => vis.better in RVIZ, only one expanded state per (x,y)
  • heuristic_scale parameter to increase under-estimating heuristics
  • GetSuccsTo for improved R* functionality
  • nao_path_follower now accepts paths
  • Fixed PathCostHeuristic for non-square maps
  • reaching right goal foot faster, only left goal state absorbs now.
  • also show expanded states when failing; R* optimized (exact ==)
  • PathCostHeuristic is now inflated by foot incircle
  • Contributors: Armin Hornung, Daniel Maier, Johannes Garimort

0.3.1 (2012-06-15)

  • preparing for fuerte release and sbpl package
  • replanning based on old planning info in cases of a changed map disabled for now (instead: complete new planning in such a case)
  • approx. comparison for R*
  • footstep-feedback synchronization now handled in the action client (in FootstepNavigation.cpp)
  • cost calculation directly based on the discrete planning states
  • during the planning the reachability check is now based on the discrete position and orientation of the state (planning speed up)
  • temp. simplification of the path cost heuristic calculation
  • temp simplification of heuristic calculation
  • code cleanup
  • updated RViz config, launch file for R*
  • slightly expanded large footstep set
  • Contributors: Armin Hornung, Johannes Garimort

0.3.0 (2012-05-29)

  • changed default planning params: 1cm res, PathCostHeuristic
  • synchronized with footstep action server
  • PathCostHeuristic fixed
  • added fake localization launch file
  • documentation update
  • got rid of FootstepPlannerEnvironment::setUp - this is now done in the resp. updateGoal/updateStart-method (this makes it possible to reduce FootstepPlanner::run to its actual functionality)
  • Removed ANAPlanner (testing, requires newer SBPL)
  • Functions (stubs) added for R*
  • changed names of the robot feet (according to ROS standards); integrate actionlib to perform footsteps
  • corrected foot box for the nao robot
  • corrected footsteps (w.r.t the new step model and the old footstep sets)
  • footstep navigation debug and footstep execution debug update
  • some bugs affecting footstep execution fixed
  • footstep execution now completely discrete
  • new function for lengths (to distinct between grid cell discretization and length discretization; footstep calculation fully based on discrete footsteps (can be further optimized by calculating reverse footstep on the fly)
  • update of start pose in own function: used before planning and replanning
  • bugfix: set gready footstep
  • map callback subscription
  • add missing goal pose callback subscription
  • footstep robot navigation integration finished
  • replaced double-ptr returns with references in get_footstep() / getFootstep()
  • Added execution functions from old footstep planner code to FootstepNavigation
  • FootstepNavigation stub added
  • Contributors: Armin Hornung, Johannes Garimort

0.2.0 (2011-11-28)

  • automatic replanning after map change
  • reset planner when to many states changed after map change
  • 2nd changed sample map added
  • inserted stubs for R* env. functions.
  • using old information in replanning after map change
  • fixed invalid states appearing on border of map during expansion
  • fixed corner cases for angles heuristic
  • added foundation for map change detection
  • get rid of last continuous planning state variable
  • orientation cost
  • fix on path cost heuristic and the recalculation w.r.t correct search direction
  • path cost heuristic implementation finished
  • footstep_planner now uses SBPL instead of D* lite, enabling ARA* and AD* for search with anytime capabilities
  • Moved the PlanFootsteps service into humanoid_nav_msgs
  • Contributors: Armin Hornung, Johannes Garimort

0.1.0 (2011-05-03)

  • more maps added, adjusted launch files
  • Added call to clear previous visualization
  • Display of planning time in Dstar
  • added Python node to plan from the command line
  • added \"PlanFootstep\" service to FootstepPlanner
  • added override for default marker namespace
  • method to initiate heuristic values update from outside
  • documentation
  • private namespace for vis msgs
  • A* heuristic implemented and integrated
  • enhancements:
    • cleanup of param files
    • State, Footstep, Dstar classes separated
    • Got rid of rounding => huge speedup in planner
    • Better results with subgoal_distance=0.2
    • added Heuristic path visualization
    • helper functions inlined
    • replaced constants with step constants
    • access to Dstar path properties in FootstepPlanner
    • getPathCosts, getNumExpandedStates, getNumFootsteps added to receive planning information
  • fixes:
    • fixed heuristic update after goal update in Dstar
    • fixed foot width for Astar heuristic
  • Contributors: Armin Hornung, Johannes Garimort

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

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Recent questions tagged footstep_planner at answers.ros.org

Package Summary

Tags No category tags.
Version 1.0.1
License GPL 3
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/AravindaDP/humanoid_navigation.git
VCS Type git
VCS Version hydro-devel
Last Updated 2015-03-27
Dev Status DEVELOPED
Released UNRELEASED

Package Description

Additional Links

Maintainers

  • Armin Hornung

Authors

  • Johannes Garimort, Armin Hornung
README
No README found. See repository README.
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Recent questions tagged footstep_planner at answers.ros.org