|
Package Summary
Tags | No category tags. |
Version | 1.1.17 |
License | Apache-2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-planning/navigation2.git |
VCS Type | git |
VCS Version | humble |
Last Updated | 2024-11-26 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Matej Vargovcik
- Steve Macenski
Authors
Constrained Smoother
A smoother plugin for nav2_smoother
based on the original deprecated smoother in nav2_smac_planner
by Steve Macenski and put into operational state by RoboTech Vision. Suitable for applications which need planned global path to be pushed away from obstacles and/or for Reeds-Shepp motion models.
See documentation on navigation.ros.org: https://navigation.ros.org/configuration/packages/configuring-constrained-smoother.html
Example of configuration (see indoor_navigation package of this repo for a full launch configuration):
smoother_server:
ros__parameters:
use_sim_time: True
smoother_plugins: ["SmoothPath"]
SmoothPath:
plugin: "nav2_constrained_smoother/ConstrainedSmoother"
reversing_enabled: true # whether to detect forward/reverse direction and cusps. Should be set to false for paths without orientations assigned
path_downsampling_factor: 3 # every n-th node of the path is taken. Useful for speed-up
path_upsampling_factor: 1 # 0 - path remains downsampled, 1 - path is upsampled back to original granularity using cubic bezier, 2... - more upsampling
keep_start_orientation: true # whether to prevent the start orientation from being smoothed
keep_goal_orientation: true # whether to prevent the gpal orientation from being smoothed
minimum_turning_radius: 0.40 # minimum turning radius the robot can perform. Can be set to 0.0 (or w_curve can be set to 0.0 with the same effect) for diff-drive/holonomic robots
w_curve: 30.0 # weight to enforce minimum_turning_radius
w_dist: 0.0 # weight to bind path to original as optional replacement for cost weight
w_smooth: 2000000.0 # weight to maximize smoothness of path
w_cost: 0.015 # weight to steer robot away from collision and cost
# Parameters used to improve obstacle avoidance near cusps (forward/reverse movement changes)
# See the [docs page](https://navigation.ros.org/configuration/packages/configuring-constrained-smoother) for further clarification
w_cost_cusp_multiplier: 3.0 # option to have higher weight during forward/reverse direction change which is often accompanied with dangerous rotations
cusp_zone_length: 2.5 # length of the section around cusp in which nodes use w_cost_cusp_multiplier (w_cost rises gradually inside the zone towards the cusp point, whose costmap weight equals w_cost*w_cost_cusp_multiplier)
# Points in robot frame to grab costmap values from. Format: [x1, y1, weight1, x2, y2, weight2, ...]
# IMPORTANT: Requires much higher number of iterations to actually improve the path. Uncomment only if you really need it (highly elongated/asymmetric robots)
# See the [docs page](https://navigation.ros.org/configuration/packages/configuring-constrained-smoother) for further clarification
# cost_check_points: [-0.185, 0.0, 1.0]
optimizer:
max_iterations: 70 # max iterations of smoother
debug_optimizer: false # print debug info
gradient_tol: 5e3
fn_tol: 1.0e-15
param_tol: 1.0e-20
Note: Smoothing paths which contain multiple subsequent poses at one point (e.g. in-place rotations from Smac lattice planners) is currently not supported
Note: Constrained Smoother is recommended to be used on a path with a bounded length. TruncatePathLocal BT Node can be used for extracting a relevant path section around robot (in combination with DistanceController to achieve periodicity)
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
ament_cmake | |
ament_lint_common | |
ament_lint_auto | |
ament_cmake_gtest | |
ament_cmake_pytest | |
nav2_common | |
angles | |
rclcpp | |
nav2_util | |
nav2_msgs | |
nav2_costmap_2d | |
nav2_core | |
pluginlib |
System Dependencies
Name |
---|
libceres-dev |
Dependant Packages
Name | Deps |
---|---|
navigation2 |
Launch files
Messages
Services
Plugins
Recent questions tagged nav2_constrained_smoother at Robotics Stack Exchange
|
Package Summary
Tags | No category tags. |
Version | 1.2.10 |
License | Apache-2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-planning/navigation2.git |
VCS Type | git |
VCS Version | iron |
Last Updated | 2024-10-02 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Matej Vargovcik
- Steve Macenski
Authors
Constrained Smoother
A smoother plugin for nav2_smoother
based on the original deprecated smoother in nav2_smac_planner
by Steve Macenski and put into operational state by RoboTech Vision. Suitable for applications which need planned global path to be pushed away from obstacles and/or for Reeds-Shepp motion models.
See documentation on navigation.ros.org: https://navigation.ros.org/configuration/packages/configuring-constrained-smoother.html
Example of configuration (see indoor_navigation package of this repo for a full launch configuration):
smoother_server:
ros__parameters:
smoother_plugins: ["SmoothPath"]
SmoothPath:
plugin: "nav2_constrained_smoother/ConstrainedSmoother"
reversing_enabled: true # whether to detect forward/reverse direction and cusps. Should be set to false for paths without orientations assigned
path_downsampling_factor: 3 # every n-th node of the path is taken. Useful for speed-up
path_upsampling_factor: 1 # 0 - path remains downsampled, 1 - path is upsampled back to original granularity using cubic bezier, 2... - more upsampling
keep_start_orientation: true # whether to prevent the start orientation from being smoothed
keep_goal_orientation: true # whether to prevent the gpal orientation from being smoothed
minimum_turning_radius: 0.40 # minimum turning radius the robot can perform. Can be set to 0.0 (or w_curve can be set to 0.0 with the same effect) for diff-drive/holonomic robots
w_curve: 30.0 # weight to enforce minimum_turning_radius
w_dist: 0.0 # weight to bind path to original as optional replacement for cost weight
w_smooth: 2000000.0 # weight to maximize smoothness of path
w_cost: 0.015 # weight to steer robot away from collision and cost
# Parameters used to improve obstacle avoidance near cusps (forward/reverse movement changes)
# See the [docs page](https://navigation.ros.org/configuration/packages/configuring-constrained-smoother) for further clarification
w_cost_cusp_multiplier: 3.0 # option to have higher weight during forward/reverse direction change which is often accompanied with dangerous rotations
cusp_zone_length: 2.5 # length of the section around cusp in which nodes use w_cost_cusp_multiplier (w_cost rises gradually inside the zone towards the cusp point, whose costmap weight equals w_cost*w_cost_cusp_multiplier)
# Points in robot frame to grab costmap values from. Format: [x1, y1, weight1, x2, y2, weight2, ...]
# IMPORTANT: Requires much higher number of iterations to actually improve the path. Uncomment only if you really need it (highly elongated/asymmetric robots)
# See the [docs page](https://navigation.ros.org/configuration/packages/configuring-constrained-smoother) for further clarification
# cost_check_points: [-0.185, 0.0, 1.0]
optimizer:
max_iterations: 70 # max iterations of smoother
debug_optimizer: false # print debug info
gradient_tol: 5e3
fn_tol: 1.0e-15
param_tol: 1.0e-20
Note: Smoothing paths which contain multiple subsequent poses at one point (e.g. in-place rotations from Smac lattice planners) is currently not supported
Note: Constrained Smoother is recommended to be used on a path with a bounded length. TruncatePathLocal BT Node can be used for extracting a relevant path section around robot (in combination with DistanceController to achieve periodicity)
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
ament_cmake | |
ament_lint_common | |
ament_lint_auto | |
ament_cmake_gtest | |
ament_cmake_pytest | |
nav2_common | |
angles | |
rclcpp | |
nav2_util | |
nav2_msgs | |
nav2_costmap_2d | |
nav2_core | |
pluginlib |
System Dependencies
Name |
---|
libceres-dev |
Dependant Packages
Name | Deps |
---|---|
navigation2 |
Launch files
Messages
Services
Plugins
Recent questions tagged nav2_constrained_smoother at Robotics Stack Exchange
|
Package Summary
Tags | No category tags. |
Version | 1.3.3 |
License | Apache-2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-planning/navigation2.git |
VCS Type | git |
VCS Version | jazzy |
Last Updated | 2024-11-21 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Matej Vargovcik
- Steve Macenski
Authors
Constrained Smoother
A smoother plugin for nav2_smoother
based on the original deprecated smoother in nav2_smac_planner
by Steve Macenski and put into operational state by RoboTech Vision. Suitable for applications which need planned global path to be pushed away from obstacles and/or for Reeds-Shepp motion models.
See documentation on docs.nav2.org: https://docs.nav2.org/configuration/packages/configuring-constrained-smoother.html
Example of configuration (see indoor_navigation package of this repo for a full launch configuration):
smoother_server:
ros__parameters:
smoother_plugins: ["SmoothPath"]
SmoothPath:
plugin: "nav2_constrained_smoother/ConstrainedSmoother"
reversing_enabled: true # whether to detect forward/reverse direction and cusps. Should be set to false for paths without orientations assigned
path_downsampling_factor: 3 # every n-th node of the path is taken. Useful for speed-up
path_upsampling_factor: 1 # 0 - path remains downsampled, 1 - path is upsampled back to original granularity using cubic bezier, 2... - more upsampling
keep_start_orientation: true # whether to prevent the start orientation from being smoothed
keep_goal_orientation: true # whether to prevent the gpal orientation from being smoothed
minimum_turning_radius: 0.40 # minimum turning radius the robot can perform. Can be set to 0.0 (or w_curve can be set to 0.0 with the same effect) for diff-drive/holonomic robots
w_curve: 30.0 # weight to enforce minimum_turning_radius
w_dist: 0.0 # weight to bind path to original as optional replacement for cost weight
w_smooth: 2000000.0 # weight to maximize smoothness of path
w_cost: 0.015 # weight to steer robot away from collision and cost
# Parameters used to improve obstacle avoidance near cusps (forward/reverse movement changes)
# See the [docs page](https://docs.nav2.org/configuration/packages/configuring-constrained-smoother) for further clarification
w_cost_cusp_multiplier: 3.0 # option to have higher weight during forward/reverse direction change which is often accompanied with dangerous rotations
cusp_zone_length: 2.5 # length of the section around cusp in which nodes use w_cost_cusp_multiplier (w_cost rises gradually inside the zone towards the cusp point, whose costmap weight equals w_cost*w_cost_cusp_multiplier)
# Points in robot frame to grab costmap values from. Format: [x1, y1, weight1, x2, y2, weight2, ...]
# IMPORTANT: Requires much higher number of iterations to actually improve the path. Uncomment only if you really need it (highly elongated/asymmetric robots)
# See the [docs page](https://docs.nav2.org/configuration/packages/configuring-constrained-smoother) for further clarification
# cost_check_points: [-0.185, 0.0, 1.0]
optimizer:
max_iterations: 70 # max iterations of smoother
debug_optimizer: false # print debug info
gradient_tol: 5e3
fn_tol: 1.0e-15
param_tol: 1.0e-20
Note: Smoothing paths which contain multiple subsequent poses at one point (e.g. in-place rotations from Smac lattice planners) is currently not supported
Note: Constrained Smoother is recommended to be used on a path with a bounded length. TruncatePathLocal BT Node can be used for extracting a relevant path section around robot (in combination with DistanceController to achieve periodicity)
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
ament_cmake | |
ament_lint_common | |
ament_lint_auto | |
ament_cmake_gtest | |
ament_cmake_pytest | |
nav2_common | |
angles | |
rclcpp | |
nav2_util | |
nav2_msgs | |
nav2_costmap_2d | |
nav2_core | |
pluginlib |
System Dependencies
Name |
---|
libceres-dev |
Dependant Packages
Name | Deps |
---|---|
navigation2 |