sob_layer package from sob_layer repo

sob_layer

Package Summary

Tags No category tags.
Version 0.1.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/dorezyuk/sob_layer.git
VCS Type git
VCS Version master
Last Updated 2021-01-16
Dev Status MAINTAINED
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

Plugin-replacement for the default costmap_2d::InflationLayer.

Additional Links

No additional links.

Maintainers

  • Dima Dorezyuk

Authors

No additional authors.

Small-Objects-Big (Sob) Layer

Build Status

The SobLayer offers a (likely) faster alternative to the commonly used costmap_2d::InflationLayer. It implements the distance transform algorithm described by Felzenszwalb and Huttenlocher [1].

Install/Build

If you're using ros-noetic, you can install the package via apt:

sudo apt install ros-noetic-sob-layer

If you're using an older ros-version or if you want to build the package from sources, follow the "normal" build process for catkin-based packages:

cd ~/catkin_ws/src
git clone https://github.com/dorezyuk/sob_layer.git
catkin build sob_layer --no-deps --cmake-args -DCMAKE_BUILD_TYPE=Release

You will get an additional performance boost by compiling with O3 optimization, which enables auto-vectorization:

catkin build sob_layer --no-deps --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-O3 -march=native"

The library offers also a benchmark-target. The benchmarking should help you to figure out, if the SobLayer offers a reasonable improvement over the costmap_2d::InflationLayer for your specific usecase/platform. The benchmark-target requires the benchmark library. If you want to build it, add -Dsob_layer_BENCHMARK=ON to your build command:

catkin build sob_layer --no-deps --cmake-args -DCMAKE_BUILD_TYPE=Release -Dsob_layer_BENCHMARK=ON

Requirements

The library requires at least C++11. It has been tested on Ubuntu 18.04 and Ubuntu 20.04 running ros-melodic and ros-noetic, respectively. Following compilers are known to work * GCC 7.5.0 * Clang 6.0.0

Benchmarks

This library was benchmarked against the costmap_2d::InflationLayer. The benchmarks focus on two extreme scenarios.

In the first scenario we measure the performance of large, connected obstacles. We place a filled square in the middle of the map. The square is set to the size NxN. N ranges from 0 to 0.9 times the overall map's edge E (assuming the map is a square with the size ExE). An increasing N increases hence the "load-factor" (number of occupied cells).

In the second scenario we measure the performance of unconnected obstacles. On an flattened map, we mark every N-th cell as occupied. With decreasing values for N, more cells are marked as occupied - our "load-factor" increases. The used N-values are [101, 51, 41, 31, 21, 11, 6, 3, 2].

image

The image above shows the results. The results were obtained on a AMD Ryzen 5 PRO 4650U CPU. The library was compiled with GCC 7.5.0 and "-O3 -march=native" flags.

The y-axis indicates the cpu-time. The x-axis shows the "load-factor" (increasing from left to right). Both scenarios were run for two map-sizes: 100x100 and 1000x1000. The upper row shows the results for the first scenario, the lower for the second.

Config

The SobLayer follows mostly the configuration from costmap_2d::InflationLayer, easing the change for users.

# in your <common|local|global>_costmap.yaml
plugins:
    # ...
    -{name: inflation_layer,  type: "sob_layer::SobLayer"}

inflation_layer:
    # in meters. positive will suppress the automatic calculation from the
    # footprint
    inflation_radius: -1.
    # in meters, as in costmap_2d::InflationLayer
    inscribed_radius:  1.
    # decay, as in costmap_2d::InflationLayer
    cost_scaling_factor: 0
    # same behavior as in every costmap_2d::Layer:
    # calls to updateCosts and updateBounds will be skipped, if false
    enabled: true


Remarks

Currently this layer does not support unknown costs (costmap_2d::NO_INFORMATION). It will treat those costs as lethal. Consequently, the inflate_unknown parameter from the original costmap_2d::InflationLayer is not supported.

References

[1] Felzenszwalb, P., & Huttenlocher, D. (2012). Distance Transforms of Sampled Functions Theory of Computing, 8(19), 415–428.

CHANGELOG

Changelog for package sob_layer

0.1.0 (2020-11-24)

  • prepare for debian-packaging
  • minor fixes
  • adjust documentation
  • move the computeCache call into updateBounds
  • add documentation about unknown costs
  • add warning for unsupported parameters
  • fix doc
  • misc
  • Update README.md
  • add travis.yaml
  • add doc
  • add documentation and licence
  • Create LICENSE
  • init
  • Contributors: Dima Dorezyuk

Wiki Tutorials

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Source Tutorials

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Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

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Messages

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Services

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Plugins

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