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Fix MPPI obstacle critic InflationLayer check #4047

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merged 1 commit into from
Jan 12, 2024
Merged

Fix MPPI obstacle critic InflationLayer check #4047

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1 change: 1 addition & 0 deletions nav2_mppi_controller/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -107,6 +107,7 @@ This process is then repeated a number of times and returns a converged solution
| collision_cost | double | Default 100000.0. Cost to apply to a true collision in a trajectory. |
| collision_margin_distance | double | Default 0.10. Margin distance from collision to apply severe penalty, similar to footprint inflation. Between 0.05-0.2 is reasonable. |
| near_goal_distance | double | Default 0.5. Distance near goal to stop applying preferential obstacle term to allow robot to smoothly converge to goal pose in close proximity to obstacles.
| inflation_layer_name | string | Default "". Name of the inflation layer. If empty, it uses the last inflation layer in the costmap. If you have multiple inflation layers, you may want to specify the name of the layer to use. |

#### Path Align Critic
| Parameter | Type | Definition |
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4 changes: 3 additions & 1 deletion nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp
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Expand Up @@ -16,9 +16,10 @@
#define NAV2_MPPI_CONTROLLER__CRITICS__OBSTACLES_CRITIC_HPP_

#include <memory>
#include <string>

#include "nav2_costmap_2d/footprint_collision_checker.hpp"
#include "nav2_costmap_2d/inflation_layer.hpp"

#include "nav2_mppi_controller/critic_function.hpp"
#include "nav2_mppi_controller/models/state.hpp"
#include "nav2_mppi_controller/tools/utils.hpp"
Expand Down Expand Up @@ -96,6 +97,7 @@ class ObstaclesCritic : public CriticFunction

unsigned int power_{0};
float repulsion_weight_, critical_weight_{0};
std::string inflation_layer_name_;
};

} // namespace mppi::critics
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6 changes: 5 additions & 1 deletion nav2_mppi_controller/src/critics/obstacles_critic.cpp
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Expand Up @@ -29,6 +29,7 @@ void ObstaclesCritic::initialize()
getParam(collision_cost_, "collision_cost", 100000.0);
getParam(collision_margin_distance_, "collision_margin_distance", 0.10);
getParam(near_goal_distance_, "near_goal_distance", 0.5);
getParam(inflation_layer_name_, "inflation_layer_name", std::string(""));

collision_checker_.setCostmap(costmap_);
possibly_inscribed_cost_ = findCircumscribedCost(costmap_ros_);
Expand Down Expand Up @@ -69,7 +70,10 @@ float ObstaclesCritic::findCircumscribedCost(
++layer)
{
auto inflation_layer = std::dynamic_pointer_cast<nav2_costmap_2d::InflationLayer>(*layer);
if (!inflation_layer) {
if (!inflation_layer ||
(!inflation_layer_name_.empty() &&
inflation_layer->getName() != inflation_layer_name_))
{
continue;
}

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