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[DWB] Option to limit velocity commands in trajectory generator #4663

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merged 6 commits into from
Sep 12, 2024
Merged

[DWB] Option to limit velocity commands in trajectory generator #4663

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d538edd
Option to limit vel cmd through traj generator
huiyulhy Sep 8, 2024
3abeb11
Cleanup
huiyulhy Sep 8, 2024
5a8b465
fix linting
huiyulhy Sep 9, 2024
dad2bce
Update linting
huiyulhy Sep 12, 2024
58be5ba
uncrustify
huiyulhy Sep 12, 2024
2238a24
uncrustify
huiyulhy Sep 12, 2024
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3 changes: 3 additions & 0 deletions nav2_dwb_controller/dwb_plugins/include/dwb_plugins/standard_traj_generator.hpp
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Expand Up @@ -147,6 +147,9 @@ class StandardTrajectoryGenerator : public dwb_core::TrajectoryGenerator
/// @brief the name of the overlying plugin ID
std::string plugin_name_;

/// @brief Option to limit velocity in the trajectory generator by using current velocity for trajectory
bool limit_vel_cmd_in_traj_;

/* Backwards Compatibility Parameter: include_last_point
*
* dwa had an off-by-one error built into it.
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10 changes: 10 additions & 0 deletions nav2_dwb_controller/dwb_plugins/src/standard_traj_generator.cpp
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Expand Up @@ -75,6 +75,10 @@ void StandardTrajectoryGenerator::initialize(
nh,
plugin_name + ".include_last_point", rclcpp::ParameterValue(true));

nav2_util::declare_parameter_if_not_declared(
nh,
plugin_name + ".limit_vel_cmd_in_traj_", rclcpp::ParameterValue(false));
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/*
* If discretize_by_time, then sim_granularity represents the amount of time that should be between
* two successive points on the trajectory.
Expand All @@ -89,6 +93,7 @@ void StandardTrajectoryGenerator::initialize(
nh->get_parameter(plugin_name + ".linear_granularity", linear_granularity_);
nh->get_parameter(plugin_name + ".angular_granularity", angular_granularity_);
nh->get_parameter(plugin_name + ".include_last_point", include_last_point_);
nh->get_parameter(plugin_name + ".limit_vel_cmd_in_traj_", limit_vel_cmd_in_traj_);
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}

void StandardTrajectoryGenerator::initializeIterator(
Expand Down Expand Up @@ -156,9 +161,14 @@ dwb_msgs::msg::Trajectory2D StandardTrajectoryGenerator::generateTrajectory(
double running_time = 0.0;
std::vector<double> steps = getTimeSteps(cmd_vel);
traj.poses.push_back(start_pose);
bool firstVel = false;
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for (double dt : steps) {
// calculate velocities
vel = computeNewVelocity(cmd_vel, vel, dt);
if(!firstVel && limit_vel_cmd_in_traj_){
traj.velocity = vel;
firstVel = true;
}

// update the position of the robot using the velocities passed in
pose = computeNewPosition(pose, vel, dt);
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