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Refactored output parameter. #115

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merged 2 commits into from
Mar 7, 2022
Merged

Refactored output parameter. #115

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16acb5e
Refactored output parameter.
lewie-donckers Mar 1, 2022
c615c89
Reworked by adding comment.
lewie-donckers Mar 3, 2022
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5 changes: 2 additions & 3 deletions include/path_tracking_pid/path_tracking_pid_local_planner.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -90,10 +90,9 @@ class TrackingPidLocalPlanner : public mbf_costmap_core::CostmapController,
private:
/**
* @brief Calculates the velocity command based on the current robot pose given by pose.
* @param cmd_vel Output the velocity command
* @return true if succeded.
* @return Velocity command on success, empty optional otherwise.
*/
bool computeVelocityCommands(geometry_msgs::Twist & cmd_vel);
std::optional<geometry_msgs::Twist> computeVelocityCommands();

/**
* @brief Returns true, if the goal is reached.
Expand Down
20 changes: 12 additions & 8 deletions src/path_tracking_pid_local_planner.cpp
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Expand Up @@ -209,7 +209,7 @@ bool TrackingPidLocalPlanner::setPlan(const std::vector<geometry_msgs::PoseStamp
return true;
}

bool TrackingPidLocalPlanner::computeVelocityCommands(geometry_msgs::Twist & cmd_vel)
std::optional<geometry_msgs::Twist> TrackingPidLocalPlanner::computeVelocityCommands()
{
ros::Time now = ros::Time::now();
if (prev_time_.isZero()) {
Expand All @@ -219,22 +219,25 @@ bool TrackingPidLocalPlanner::computeVelocityCommands(geometry_msgs::Twist & cmd
if (dt.isZero()) {
ROS_ERROR_THROTTLE(
5, "dt=0 detected, skipping loop(s). Possible overloaded cpu or simulating too fast");
cmd_vel = geometry_msgs::Twist();
auto cmd_vel = geometry_msgs::Twist();
cmd_vel.linear.x = pid_controller_.getControllerState().current_x_vel;
cmd_vel.angular.z = pid_controller_.getControllerState().current_yaw_vel;
return true; // False is no use: https://github.com/magazino/move_base_flex/issues/195
// At the first call of computeVelocityCommands() we can't calculate a cmd_vel. We can't return
// false because of https://github.com/magazino/move_base_flex/issues/195 so the current
// velocity is send instead.
return cmd_vel;
}
if (dt < ros::Duration(0) || dt > ros::Duration(DT_MAX)) {
ROS_ERROR("Invalid time increment: %f. Aborting", dt.toSec());
return false;
return std::nullopt;
}
try {
ROS_DEBUG("map_frame: %s, base_link_frame: %s", map_frame_.c_str(), base_link_frame_.c_str());
tfCurPoseStamped_ = tf_->lookupTransform(map_frame_, base_link_frame_, ros::Time(0));
} catch (const tf2::TransformException & ex) {
ROS_ERROR("Received an exception trying to transform: %s", ex.what());
active_goal_ = false;
return false;
return std::nullopt;
}

// Handle obstacles
Expand All @@ -258,7 +261,6 @@ bool TrackingPidLocalPlanner::computeVelocityCommands(geometry_msgs::Twist & cmd

const auto update_result = pid_controller_.update_with_limits(
tf2_convert<tf2::Transform>(tfCurPoseStamped_.transform), latest_odom_.twist.twist, dt);
cmd_vel = update_result.velocity_command;

path_tracking_pid::PidFeedback feedback_msg;
feedback_msg.eda = ros::Duration(update_result.eda);
Expand Down Expand Up @@ -296,7 +298,7 @@ bool TrackingPidLocalPlanner::computeVelocityCommands(geometry_msgs::Twist & cmd
prev_time_ = now;
prev_dt_ =
dt; // Store last known valid dt for next cycles (https://github.com/magazino/move_base_flex/issues/195)
return true;
return update_result.velocity_command;
}

uint8_t TrackingPidLocalPlanner::projectedCollisionCost()
Expand Down Expand Up @@ -441,10 +443,12 @@ uint32_t TrackingPidLocalPlanner::computeVelocityCommands(
return mbf_msgs::ExePathResult::NOT_INITIALIZED;
}
// TODO(Cesar): Use provided pose and odom
if (!computeVelocityCommands(cmd_vel.twist)) {
const auto opt_cmd_vel = computeVelocityCommands();
if (!opt_cmd_vel) {
active_goal_ = false;
return mbf_msgs::ExePathResult::FAILURE;
}
cmd_vel.twist = *opt_cmd_vel;
cmd_vel.header.stamp = ros::Time::now();
cmd_vel.header.frame_id = base_link_frame_;

Expand Down