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Add param for turning in place #38

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Oct 20, 2023
Merged

Add param for turning in place #38

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2 changes: 1 addition & 1 deletion config/planner_param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@ angle_resolution: 0.0087
dist_to_goal_th: 0.3
turn_direction_th: 0.1
angle_to_goal_th: 0.26
max_yawrate_in_situ_turns: 0.4
min_in_place_yawrate: 0.3
dist_from_head_to_obj: 0.5
velocity_samples: 3
yawrate_samples: 20
1 change: 1 addition & 0 deletions config/robot_param.yaml
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Expand Up @@ -2,5 +2,6 @@ robot_frame: "base_link"
max_velocity: 1.0
min_velocity: 0.0
max_yawrate: 1.0
min_in_place_yawrate: 0.3
max_acceleration: 0.5
max_d_yawrate: 3.2
2 changes: 1 addition & 1 deletion include/point_follow_planner/point_follow_planner.h
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Expand Up @@ -104,7 +104,7 @@ class PointFollowPlanner
double max_velocity_;
double min_velocity_;
double max_yawrate_;
double max_yawrate_in_situ_turns_;
double min_in_place_yawrate_;
double max_acceleration_;
double max_d_yawrate_;
double angle_resolution_;
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16 changes: 11 additions & 5 deletions src/point_follow_planner.cpp
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Expand Up @@ -17,7 +17,7 @@ PointFollowPlanner::PointFollowPlanner(void)
private_nh_.param<double>("max_velocity", max_velocity_, {0.55});
private_nh_.param<double>("min_velocity", min_velocity_, {0.0});
private_nh_.param<double>("max_yawrate", max_yawrate_, {1.0});
private_nh_.param<double>("max_yawrate_in_situ_turns", max_yawrate_in_situ_turns_, max_yawrate_);
private_nh_.param<double>("min_in_place_yawrate", min_in_place_yawrate_, {0.3});
private_nh_.param<double>("max_acceleration", max_acceleration_, {0.5});
private_nh_.param<double>("max_d_yawrate", max_d_yawrate_, {3.2});
private_nh_.param<double>("angle_resolution", angle_resolution_, {0.2});
Expand All @@ -38,7 +38,7 @@ PointFollowPlanner::PointFollowPlanner(void)
ROS_INFO_STREAM("max_velocity: " << max_velocity_);
ROS_INFO_STREAM("min_velocity: " << min_velocity_);
ROS_INFO_STREAM("max_yawrate: " << max_yawrate_);
ROS_INFO_STREAM("max_yawrate_in_situ_turns: " << max_yawrate_in_situ_turns_);
ROS_INFO_STREAM("min_in_place_yawrate: " << min_in_place_yawrate_);
ROS_INFO_STREAM("max_acceleration: " << max_acceleration_);
ROS_INFO_STREAM("max_d_yawrate: " << max_d_yawrate_);
ROS_INFO_STREAM("angle_resolution: " << angle_resolution_);
Expand Down Expand Up @@ -411,7 +411,9 @@ geometry_msgs::Twist PointFollowPlanner::calc_cmd_vel()
{
const double angle_to_goal = atan2(goal.y(), goal.x());
cmd_vel.angular.z =
std::min(std::max(angle_to_goal, -max_yawrate_in_situ_turns_), max_yawrate_in_situ_turns_);
angle_to_goal > 0 ? std::min(angle_to_goal, max_yawrate_) : std::max(angle_to_goal, -max_yawrate_);
cmd_vel.angular.z = cmd_vel.angular.z > 0 ? std::max(cmd_vel.angular.z, min_in_place_yawrate_)
: std::min(cmd_vel.angular.z, -min_in_place_yawrate_);
generate_trajectory(best_traj, cmd_vel.angular.z, goal);
trajectories.push_back(best_traj);
}
Expand All @@ -427,7 +429,9 @@ geometry_msgs::Twist PointFollowPlanner::calc_cmd_vel()
has_reached_ = true;
if (turn_direction_th_ < fabs(goal[2]))
{
cmd_vel.angular.z = std::min(std::max(goal[2], -max_yawrate_in_situ_turns_), max_yawrate_in_situ_turns_);
cmd_vel.angular.z = goal[2] > 0 ? std::min(goal[2], max_yawrate_) : std::max(goal[2], -max_yawrate_);
cmd_vel.angular.z = cmd_vel.angular.z > 0 ? std::max(cmd_vel.angular.z, min_in_place_yawrate_)
: std::min(cmd_vel.angular.z, -min_in_place_yawrate_);
}
else
{
Expand All @@ -451,7 +455,9 @@ bool PointFollowPlanner::can_adjust_robot_direction(const Eigen::Vector3d &goal)
if (fabs(angle_to_goal) < angle_to_goal_th_)
return false;

const double yawrate = std::min(std::max(angle_to_goal, -max_yawrate_in_situ_turns_), max_yawrate_in_situ_turns_);
double yawrate = angle_to_goal > 0 ? std::min(angle_to_goal, max_yawrate_) : std::max(angle_to_goal, -max_yawrate_);
yawrate = yawrate > 0 ? std::max(yawrate, min_in_place_yawrate_) : std::min(yawrate, -min_in_place_yawrate_);

std::vector<State> traj;
generate_trajectory(traj, yawrate, goal);

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