Package Summary

Tags No category tags.
Version 1.1.3
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 humble
Last Updated 2022-11-08
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

Ceres constrained smoother

Additional Links

No additional links.

Maintainers

  • Matej Vargovcik
  • Steve Macenski

Authors

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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: 15000.0             # 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)

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