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controller.cpp
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// Copyright (c) 2022 Samsung Research America, @artofnothingness Alexey Budyakov
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <stdint.h>
#include <chrono>
#include "nav2_mppi_controller/controller.hpp"
#include "nav2_mppi_controller/tools/utils.hpp"
// #define BENCHMARK_TESTING
namespace nav2_mppi_controller
{
void MPPIController::configure(
const nav2::LifecycleNode::WeakPtr & parent,
std::string name, const std::shared_ptr<tf2_ros::Buffer> tf,
const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros)
{
parent_ = parent;
costmap_ros_ = costmap_ros;
tf_buffer_ = tf;
name_ = name;
parameters_handler_ = std::make_unique<ParametersHandler>(parent, name_);
auto node = parent_.lock();
// Get high-level controller parameters
auto getParam = parameters_handler_->getParamGetter(name_);
getParam(visualize_, "visualize", false);
getParam(critic_index_to_visualize_, "critic_index_to_visualize", 0);
getParam(publish_optimal_trajectory_, "publish_optimal_trajectory", false);
// Configure composed objects
optimizer_.initialize(parent_, name_, costmap_ros_, tf_buffer_, parameters_handler_.get());
trajectory_visualizer_.on_configure(
parent_, name_,
costmap_ros_->getGlobalFrameID(), parameters_handler_.get());
if (publish_optimal_trajectory_) {
opt_traj_pub_ = node->create_publisher<nav2_msgs::msg::Trajectory>(
"~/optimal_trajectory");
}
RCLCPP_INFO(logger_, "Configured MPPI Controller: %s", name_.c_str());
}
void MPPIController::cleanup()
{
optimizer_.shutdown();
trajectory_visualizer_.on_cleanup();
parameters_handler_.reset();
opt_traj_pub_.reset();
RCLCPP_INFO(logger_, "Cleaned up MPPI Controller: %s", name_.c_str());
}
void MPPIController::activate()
{
auto node = parent_.lock();
trajectory_visualizer_.on_activate();
parameters_handler_->start();
if (opt_traj_pub_) {
opt_traj_pub_->on_activate();
}
RCLCPP_INFO(logger_, "Activated MPPI Controller: %s", name_.c_str());
}
void MPPIController::deactivate()
{
trajectory_visualizer_.on_deactivate();
if (opt_traj_pub_) {
opt_traj_pub_->on_deactivate();
}
RCLCPP_INFO(logger_, "Deactivated MPPI Controller: %s", name_.c_str());
}
void MPPIController::reset()
{
optimizer_.reset(false /*Don't reset zone-based speed limits between requests*/);
}
geometry_msgs::msg::TwistStamped MPPIController::computeVelocityCommands(
const geometry_msgs::msg::PoseStamped & robot_pose,
const geometry_msgs::msg::Twist & robot_speed,
nav2_core::GoalChecker * goal_checker,
const nav_msgs::msg::Path & transformed_global_plan,
const geometry_msgs::msg::PoseStamped & global_goal)
{
#ifdef BENCHMARK_TESTING
auto start = std::chrono::system_clock::now();
#endif
std::lock_guard<std::mutex> param_lock(*parameters_handler_->getLock());
nav2_costmap_2d::Costmap2D * costmap = costmap_ros_->getCostmap();
std::unique_lock<nav2_costmap_2d::Costmap2D::mutex_t> costmap_lock(*(costmap->getMutex()));
auto [cmd, optimal_trajectory] =
optimizer_.evalControl(robot_pose, robot_speed, transformed_global_plan, global_goal.pose,
goal_checker);
#ifdef BENCHMARK_TESTING
auto end = std::chrono::system_clock::now();
auto duration = std::chrono::duration_cast<std::chrono::milliseconds>(end - start).count();
RCLCPP_INFO(logger_, "Control loop execution time: %ld [ms]", duration);
#endif
if (publish_optimal_trajectory_ && opt_traj_pub_ && opt_traj_pub_->get_subscription_count() > 0) {
std_msgs::msg::Header trajectory_header;
trajectory_header.stamp = cmd.header.stamp;
trajectory_header.frame_id = costmap_ros_->getGlobalFrameID();
auto trajectory_msg = utils::toTrajectoryMsg(
optimal_trajectory,
optimizer_.getOptimalControlSequence(),
optimizer_.getSettings().model_dt,
trajectory_header);
opt_traj_pub_->publish(std::move(trajectory_msg));
}
if (visualize_) {
visualize(cmd.header.stamp, optimal_trajectory);
}
return cmd;
}
void MPPIController::visualize(
const builtin_interfaces::msg::Time & cmd_stamp,
const Eigen::ArrayXXf & optimal_trajectory)
{
const auto & critic_costs = optimizer_.getCriticCosts();
const Eigen::ArrayXf & costs =
(critic_index_to_visualize_ <= 0 ||
critic_index_to_visualize_ > static_cast<int>(critic_costs.size())) ?
optimizer_.getCosts() :
critic_costs[critic_index_to_visualize_ - 1].second;
trajectory_visualizer_.add(
optimizer_.getGeneratedTrajectories(),
costs,
optimizer_.getCollisionFlags(),
cmd_stamp);
trajectory_visualizer_.add(optimal_trajectory, "Optimal Trajectory", cmd_stamp);
trajectory_visualizer_.visualize();
}
void MPPIController::newPathReceived(const nav_msgs::msg::Path & /*raw_global_path*/)
{
}
void MPPIController::setSpeedLimit(const double & speed_limit, const bool & percentage)
{
optimizer_.setSpeedLimit(speed_limit, percentage);
}
} // namespace nav2_mppi_controller
#include "pluginlib/class_list_macros.hpp"
PLUGINLIB_EXPORT_CLASS(nav2_mppi_controller::MPPIController, nav2_core::Controller)