fix simple smoother failing during final approach by rayferric · Pull Request #4817 · ros-navigation/navigation2

rayferric · 2024-12-24T19:33:48Z

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#4710
Primary OS tested on	Ubuntu (osrf/ros:jazzy-desktop-full)
Robotic platform tested on	my own custom simulated robot
Does this PR contain AI generated software?	No

Description of contribution in a few bullet points

modified smoother server's simple_smoother plugin to not throw FailedToSmoothPath when the robot is approaching the end of path

I can alter this behavior if requested. My only requirement for this patch is that no error will be thrown when the path is ending and the last and only segment is too short to be processed, causing segments_smoothed to be zero.

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

SteveMacenski

Seems very sensible / a good idea

SteveMacenski · 2025-01-02T19:20:41Z

@rayferric two things:

There's a CI test failing from this change. I think you just need to set the size of the path > 1 as an input for an exception that should be thrown
Please sign your commits with DCO (see the job failure below)

Then I can merge!

mergify · 2025-01-03T15:08:07Z

@rayferric, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

mergify · 2025-01-03T15:28:02Z

@rayferric, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

mergify · 2025-01-03T15:35:17Z

@rayferric, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

rayferric · 2025-01-03T16:24:31Z

CI failed due to unrelated errors in TF2@rolling:

I have pushed an unrelated commit, use tf2's .hpp includes, in order to see if the CI will go through.

SteveMacenski · 2025-01-03T20:06:36Z

#4732 should resolve, I just re-kicked CI on that PR and will merge once passing. You can remove those commits and rebase/pull in main changes.

You have some CI test failures but ... I'm guessing those are a fluke given nothing about your PR should have changed that behavior (or the rolling release that created the geometry2 API issue also broke something else we depend on in RPP or exposed an RPP internal bug). Lets do the #4732 rebase and re-kick CI and see if it comes back again.

rayferric · 2025-01-03T21:37:28Z

Okay, I've removed the extra commit and rebase-merged the changes from main. Now let's wait until #4732 is merged. Also please see if changes in d61eed5 are acceptable.

mergify · 2025-01-03T21:38:29Z

@rayferric, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

SteveMacenski · 2025-01-04T01:14:05Z

Rebase with #4823 for CI

nav2_smoother/src/simple_smoother.cpp

rayferric · 2025-01-04T17:01:07Z

Here, I rebased with depreciate_c_headers2. Now waiting for your decision regarding the test failures

SteveMacenski · 2025-01-07T01:25:21Z

Rebase on main, it was merged in with some other fixes. It also looks like your PR has an outstanding git conflict. The git diff here shouldn't include any of the h to hpp changes, that should be provided by main

mergify · 2025-01-07T01:28:56Z

This pull request is in conflict. Could you fix it @rayferric?

codecov · 2025-01-07T09:46:55Z

Codecov Report

All modified and coverable lines are covered by tests ✅

Files with missing lines	Coverage Δ
nav2_smoother/src/simple_smoother.cpp	`100.00% <100.00%> (ø)`

... and 5 files with indirect coverage changes

SteveMacenski

I think there are a couple of bugs that need to be addressed, but generally looks good to me once resolved. They're pretty small.

nav2_smoother/src/simple_smoother.cpp

rayferric · 2025-01-12T19:45:32Z

Hey, in order for us to easily resolve this PR, I've reverted my intrusive changes and fixed the tests so that they pass. Is that alright?

nav2_smoother/src/simple_smoother.cpp

SteveMacenski · 2025-01-14T00:25:16Z

I'm going back to the original ticket to remind myself what we were trying to accomplish since we've gone down a few directions. This code has clearly degraded a bit over time and various contributions and refactoring over its lifetime and I want to think about this more abstractly to what we want to do: final path approaches working well and knowing that path segments in various directions can be of arbitrary length.

I think we need to make a few changes here. The returns for smoothImpl and when we throw are a bit crazy - as you point out.

Within smoothImpl:

I think the collision failure case should set path = last_path, update the orientations, and return true. If we're mid-execution, then the previous is known to be collision free & that's as good as we can do. If its the first iteration and the path is already in collision, then we can't do much here. If the user cares, then they'd have goal->check_for_collisions set in which the finally validated path would then throw the path in collision error in the main Smoother Server
For this specific type of smoother, we can return a semi-smoothed path (others if not converged are not going to be valid, like those from the Constrained Smoother). So, for its >= max_its_ I think we can warn log and return true. Its not as smooth as it could have been, but its perfectly valid and a user configuration, not a runtime requirement.
For maximum duration, I think we can leave that alone as throwing since that's an actual exit failure

Within smooth():

Now, all returns from smoothImpl are throwing or return true, so we don't need to pay much attention to the return bool anymore. I think we can remove the segments_smoothed and success logic. And we can change the smoothImpl to be a void type.
That would also imply removing the potential to throw FailedToSmoothPath, but looking at the git blame for that, it seems haphazardly implemented (along with the rest of the issues we're removing in this thread). I can't think of a reason to keep it.

I also reviewed savitzky_golay_smoother.cpp to see what changes I wanted to make to be aligned with this to fix other potential messy locations. That one looks good to me and does what I basically just suggested.

Signed-off-by: rayferric <63957587+rayferric@users.noreply.github.com>

rayferric · 2025-01-17T16:48:03Z

Hi again,
Thanks for the in-depth review and your well thought out suggestions! Thanks to them, preparing the new commits was a breeze. I'm happy that you decided to remove the overly restrictive error handling. As a bonus, I have included a test case for the end-of-path approach scenario, so that my original issue doesn't reoccur.

SteveMacenski

Sorry that this was such a painful review and iteration process, I promise it'll be better in the future 😉

* new test case for end of path approach Signed-off-by: rayferric <63957587+rayferric@users.noreply.github.com> * modify tests to match the more permissive smoother policy Signed-off-by: rayferric <63957587+rayferric@users.noreply.github.com> * implement steve's suggestions Signed-off-by: rayferric <63957587+rayferric@users.noreply.github.com> --------- Signed-off-by: rayferric <63957587+rayferric@users.noreply.github.com> Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* new test case for end of path approach Signed-off-by: rayferric <63957587+rayferric@users.noreply.github.com> * modify tests to match the more permissive smoother policy Signed-off-by: rayferric <63957587+rayferric@users.noreply.github.com> * implement steve's suggestions Signed-off-by: rayferric <63957587+rayferric@users.noreply.github.com> --------- Signed-off-by: rayferric <63957587+rayferric@users.noreply.github.com>

* nav2_smac_planner: handle corner case where start and goal are on the same cell (#4793) * nav2_smac_planner: handle corner case where start and goal are on the same cell This case was already properly handled in the smac_planner_2d, but it was still leading to an A* backtrace failure in the smac_planner_hybrid and smac_planner_lattice. Let's harmonize the handling of this case. This commit fixes issue #4792. Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> * nav2_smac_planner: use goal orientation when path is made of one point Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> * nav2_smac_planner: publish raw path also when start and goal are on the same cell Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> * nav2_smac_planner: add corner case to unit tests Add a plan where the start and goal are placed on the same cell. Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> --------- Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> * creating auto-transition option for nav2_util::LifecycleNode (#4804) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Fix trajectory generation bug in docking controller (#4807) * Fix trajectory in docking controller Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Ceil and remove resolution Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Update nav2_docking/opennav_docking/src/controller.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Update nav2_docking/opennav_docking/src/controller.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Alberto Tudela <ajtudela@gmail.com> --------- Signed-off-by: Alberto Tudela <ajtudela@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * graceful_controller: implement iterative selection of control points (#4795) * initial pass at iterative Signed-off-by: Michael Ferguson <mfergs7@gmail.com> * add v_angular_min_in_place Signed-off-by: Michael Ferguson <mfergs7@gmail.com> * add orientation filter, fix remaining TODOs Signed-off-by: Michael Ferguson <mfergs7@gmail.com> * try to increase coverage, fixup minor test issues Signed-off-by: Michael Ferguson <mfergs7@gmail.com> * address review comments Signed-off-by: Michael Ferguson <mfergs7@gmail.com> * review comments * update defaults * rename to in_place_collision_resolution Signed-off-by: Michael Ferguson <mfergs7@gmail.com> * revert change in default Signed-off-by: Michael Ferguson <mfergs7@gmail.com> --------- Signed-off-by: Michael Ferguson <mfergs7@gmail.com> * fix bug in use of v_angular_min_in_place (#4813) Signed-off-by: Michael Ferguson <mfergs7@gmail.com> * publish motion target as pose (#4839) Signed-off-by: Michael Ferguson <mfergs7@gmail.com> * nav2_behaviors: drive_on_heading: return TIMEOUT error code when exceeding time allowance (#4836) Until now, the NONE error code was returned when exceeding the time allowance. Let's return the more appropriate TIMEOUT error code instead. Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> * fix bug in orientation filtering (#4840) * fix bug in orientation filtering some global planners output all zeros for orientation, however the plan is in the global frame. when transforming to the local frame, the orientation is no longer zero. Instead of comparing to zero, we simply check if all the orientations in the middle of the plan are equal Signed-off-by: Michael Ferguson <mfergs7@gmail.com> * account for floating point error Signed-off-by: Michael Ferguson <mfergs7@gmail.com> --------- Signed-off-by: Michael Ferguson <mfergs7@gmail.com> * Adapt GoalUpdater to update goals as well (#4771) * Add IsStoppedBTNode Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add topic name + reformat Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix comment Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix abs Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * remove log Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add getter functions for raw twist Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * remove unused code Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * use odomsmoother Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix formatting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * update groot Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Add test Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * reset at success Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * FIX velocity_threshold_ Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix stopped Node Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Add tests to odometry_utils Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix linting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Adapt goalUpdater to modify goals as well Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix formatting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fixes Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * change name of msg Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Make input goals be Goals again for compatibility Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Revert "fix" This reverts commit 8303cdc. Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * refactoring Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * ament Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * ignore if no timestamps Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * facepalm Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * update groot nodes Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Use PoseStampedArray Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fixes Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * use geometry_msgs Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix import Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * use geometry_msgs Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * more fixes Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * . Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * revert Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * . Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add common_interfaces Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * use PoseStampedArray Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * reformat Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * revert Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * revert Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix warn msg Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix test Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * improve Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix format Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * change to info Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix simple smoother failing during final approach (#4817) * new test case for end of path approach Signed-off-by: rayferric <63957587+rayferric@users.noreply.github.com> * modify tests to match the more permissive smoother policy Signed-off-by: rayferric <63957587+rayferric@users.noreply.github.com> * implement steve's suggestions Signed-off-by: rayferric <63957587+rayferric@users.noreply.github.com> --------- Signed-off-by: rayferric <63957587+rayferric@users.noreply.github.com> * Add acc limit consideration to avoid overshooting in RotationShimController (#4864) * Add acc limit consideration to avoid overshoot in RotationShimController Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add acceleration limit tests to RotationShimController Signed-off-by: RBT22 <rozgonyibalint@gmail.com> --------- Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Fix flaky ness of opennav_docking test_docking_server (#4878) (#4879) Call publish() (odom -> base_link tf) at startup to kick things off and spin 10 times(1 second) TF, so that it has a chance to propogate to the docking_server so that it will accept an action request. Previously it was only spinning once, hoping the timer would fire and call publish fast enough for it to propogate to the docking_server so that it is able to accept the first 'dock_robot' action request Signed-off-by: Mike Wake <macwake@gmail.com> * [BtActionNode] [BtServiceNode] clear between calls (#4887) Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * dwb_critics flaky test - lineCost coordinates must be within costmap (#4889) (#4884) There is no protection/checks in the pathway from lineCost to costmap_2d::getIndex(mx, my) for grid coordinates that exceed the of bounds of the allocated costmap. (presumably for speed) This test was triggering an off by one error attempting to read the the 2500 byte costmap at byte 2503 costmap size 50x50. getIndex(3, 50) = my * size_x_ + mx; = 50 * 50 + 3; = 2503 Signed-off-by: Mike Wake <macwake@gmail.com> * Add option to use open-loop control with Rotation Shim (#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> * Fix unstable test in nav2 util (#4894) * Fix unstable test in nav2 util Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix linting Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Change 5s to 1s Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Update bt2img syntax and bt pics (#4900) Signed-off-by: Maurice-1235 <mauricepurnawan@gmail.com> * bumping to 1.3.5 Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Revert "Adapt GoalUpdater to update goals as well (#4771)" This reverts commit 55d7387. --------- Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Alberto Tudela <ajtudela@gmail.com> Signed-off-by: Michael Ferguson <mfergs7@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: rayferric <63957587+rayferric@users.noreply.github.com> Signed-off-by: RBT22 <rozgonyibalint@gmail.com> Signed-off-by: Mike Wake <macwake@gmail.com> Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Signed-off-by: Maurice-1235 <mauricepurnawan@gmail.com> Co-authored-by: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@users.noreply.github.com> Co-authored-by: Alberto Tudela <ajtudela@gmail.com> Co-authored-by: Michael Ferguson <mfergs7@gmail.com> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: Ray Ferric <63957587+rayferric@users.noreply.github.com> Co-authored-by: Balint Rozgonyi <43723477+RBT22@users.noreply.github.com> Co-authored-by: ewak <ewak@users.noreply.github.com> Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: mini-1235 <58433591+mini-1235@users.noreply.github.com>

* new test case for end of path approach Signed-off-by: rayferric <63957587+rayferric@users.noreply.github.com> * modify tests to match the more permissive smoother policy Signed-off-by: rayferric <63957587+rayferric@users.noreply.github.com> * implement steve's suggestions Signed-off-by: rayferric <63957587+rayferric@users.noreply.github.com> --------- Signed-off-by: rayferric <63957587+rayferric@users.noreply.github.com> Signed-off-by: stevedanomodolor <stevedan.o.omodolor@gmail.com>

SteveMacenski approved these changes Jan 2, 2025

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Simple Smoother Aborts Navigation with "No Segments Smoothed" Error When Approaching End of Path #4710

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rayferric force-pushed the fix-simple-smoother-approach branch from 82ce084 to 323fdcf Compare January 3, 2025 15:05

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rayferric added 3 commits January 17, 2025 17:18

new test case for end of path approach

bf771aa

Signed-off-by: rayferric <63957587+rayferric@users.noreply.github.com>

modify tests to match the more permissive smoother policy

ad7b15c

Signed-off-by: rayferric <63957587+rayferric@users.noreply.github.com>

implement steve's suggestions

386a8b8

Signed-off-by: rayferric <63957587+rayferric@users.noreply.github.com>

rayferric force-pushed the fix-simple-smoother-approach branch from e9cc2d9 to 386a8b8 Compare January 17, 2025 16:35

SteveMacenski approved these changes Jan 21, 2025

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SteveMacenski merged commit 6e1c85e into ros-navigation:main Jan 21, 2025

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rayferric commented Dec 24, 2024

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Description of contribution in a few bullet points

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rayferric commented Jan 17, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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rayferric commented Jan 3, 2025 •

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SteveMacenski commented Jan 7, 2025 •

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codecov bot commented Jan 7, 2025 •

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SteveMacenski commented Jan 14, 2025 •

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rayferric commented Jan 17, 2025 •

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