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Add acceleration limits to DriveOnHeading and BackUp behaviors (backport #4810) #4877

Merged
merged 4 commits into from
Jan 30, 2025
Merged

Add acceleration limits to DriveOnHeading and BackUp behaviors (backport #4810) #4877

merged 4 commits into from
Jan 30, 2025

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RBT22
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@RBT22 RBT22 commented Jan 29, 2025

Backport of #4810 to humble

Basic Info

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Ticket(s) this addresses (add tickets here #1)
Primary OS tested on (Ubuntu, MacOS, Windows)
Robotic platform tested on (Steve's Robot, gazebo simulation of Tally, hardware turtlebot)
Does this PR contain AI generated software? (No; Yes and it is marked inline in the code)

Description of contribution in a few bullet points

Description of documentation updates required from your changes

Description of how this change was tested

Future work that may be required in bullet points

For Maintainers:

  • Check that any new parameters added are updated in docs.nav2.org
  • Check that any significant change is added to the migration guide
  • Check that any new features OR changes to existing behaviors are reflected in the tuning guide
  • Check that any new functions have Doxygen added
  • Check that any new features have test coverage
  • Check that any new plugins is added to the plugins page
  • If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

@RBT22
Add acceleration limits to DriveOnHeading and BackUp behaviors (ros-n…
a31ff42 
…avigation#4810)

* Add acceleration constraints

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Cleanup code

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Format code

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Add <limits> header to drive_on_heading.hpp

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Remove vel pointer

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Use the limits only if both of them is set

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Fix onActionCompletion params

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Add default acc params and change decel sign

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Add minimum speed parameter

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Update minimum speed parameter to 0.10

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Log warning when acceleration or deceleration limits are not set

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Add param sign assert

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Remove unnecessary param checking

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Refactor acceleration limits to handle forward and backward movement separately

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Fix sign checking condition

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Replace throwing with silent sign correction

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

---------

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>
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mergify bot commented Jan 29, 2025

@RBT22, all pull requests must be targeted towards the main development branch.
Once merged into main, it is possible to backport to @humble, but it must be in main
to have these changes reflected into new distributions.

SteveMacenski
SteveMacenski reviewed Jan 29, 2025
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In order to backport this, we need to make some changes:

  • The acceleration / deceleration need to be defaulted to 0 and a new "off" condition is checked for the 0 values. We don't want behavior to instantly change for users updating on Humble due to acceleration limits being introduced which may or may not be sensible for their vehicle
  • Remove from the parameter file so that the default current value persists
  • Update the parameter value check so that 0 is a valid condition

These are actually the same reasons I realized I couldnt' auto-backport to Jazzy either

RBT22 added 3 commits January 30, 2025 11:47
@RBT22
Update parameter defaults to zero
ceaeede 
Signed-off-by: RBT22 <rozgonyibalint@gmail.com>
@RBT22
Add off condition
624037d 
Signed-off-by: RBT22 <rozgonyibalint@gmail.com>
@RBT22
Move forward outside
349d5e1 
Signed-off-by: RBT22 <rozgonyibalint@gmail.com>
@SteveMacenski SteveMacenski merged commit aabad9a into ros-navigation:humble Jan 30, 2025
2 of 3 checks passed
RBT22 added a commit to EnjoyRobotics/navigation2 that referenced this pull request Feb 4, 2025
@RBT22
Add acceleration limits to DriveOnHeading and BackUp behaviors (backp…
4c34487 
…ort ros-navigation#4810) (ros-navigation#4877)

* Add acceleration limits to DriveOnHeading and BackUp behaviors (ros-navigation#4810)

* Add acceleration constraints

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Cleanup code

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Format code

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Add <limits> header to drive_on_heading.hpp

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Remove vel pointer

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Use the limits only if both of them is set

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Fix onActionCompletion params

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Add default acc params and change decel sign

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Add minimum speed parameter

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Update minimum speed parameter to 0.10

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Log warning when acceleration or deceleration limits are not set

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Add param sign assert

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Remove unnecessary param checking

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Refactor acceleration limits to handle forward and backward movement separately

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Fix sign checking condition

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Replace throwing with silent sign correction

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

---------

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Update parameter defaults to zero

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Add off condition

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Move forward outside

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

---------

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>
emilnovak pushed a commit to EnjoyRobotics/navigation2 that referenced this pull request Feb 11, 2025
@RBT22 @LinusTxtonomy
@SteveMacenski @padhupradheep @ThomasHaley-neya
Nav2 Sync 6 2025 Febr 4 (#53)
76b76c9 
* Update Smac Planner for rounding to closest bin rather than flooring (ros-navigation#4636) (ros-navigation#4760)

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* fixing path longer on approach (ros-navigation#4622) (ros-navigation#4766)

* fixing path longer on approach



* removing the short circuit



* adding additional layer of check



---------

Signed-off-by: Pradheep <padhupradheep@gmail.com>

* Add acceleration limits to DriveOnHeading and BackUp behaviors (backport ros-navigation#4810) (ros-navigation#4877)

* Add acceleration limits to DriveOnHeading and BackUp behaviors (ros-navigation#4810)

* Add acceleration constraints

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Cleanup code

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Format code

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Add <limits> header to drive_on_heading.hpp

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Remove vel pointer

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Use the limits only if both of them is set

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Fix onActionCompletion params

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Add default acc params and change decel sign

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Add minimum speed parameter

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Update minimum speed parameter to 0.10

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Log warning when acceleration or deceleration limits are not set

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Add param sign assert

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Remove unnecessary param checking

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Refactor acceleration limits to handle forward and backward movement separately

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Fix sign checking condition

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Replace throwing with silent sign correction

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

---------

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Update parameter defaults to zero

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Add off condition

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Move forward outside

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

---------

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Add option to use open-loop control with Rotation Shim (backport ros-navigation#4880) (ros-navigation#4896)

* Add option to use open-loop control with Rotation Shim (ros-navigation#4880)

* Initial implementation

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* replace feedback param with closed_loop

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Reset last_angular_vel_ in activate method

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Add closed_loop parameter to dynamicParametersCallback

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Add tests

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Override reset function

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

---------

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Remove reset

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

---------

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Create footprint_collision_checker.py (ros-navigation#4899)

Backport of footprint_collision_checker to Nav2 Humble

Signed-off-by: ThomasHaley-neya <thaley@neyarobotics.com>

---------

Signed-off-by: Pradheep <padhupradheep@gmail.com>
Signed-off-by: RBT22 <rozgonyibalint@gmail.com>
Signed-off-by: ThomasHaley-neya <thaley@neyarobotics.com>
Co-authored-by: LinusTxtonomy <152272158+LinusTxtonomy@users.noreply.github.com>
Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
Co-authored-by: Pradheep Krishna <padhupradheep@gmail.com>
Co-authored-by: ThomasHaley-neya <thaley@neyarobotics.com>
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