Add ispathvalid maxcost #4873
Add ispathvalid maxcost #4873
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Signed-off-by: mini-1235 <[email protected]>
nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_path_valid_condition.hpp
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Signed-off-by: mini-1235 <[email protected]>
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Hi, thanks for reviewing @SteveMacenski, I have fixed the problem you have mentioned above and raised a PR on the documentation side, can you please take another look on it? Also the mppi test failed for some reason, but it passed on my machine, can you help on it 😄 |
nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_path_valid_condition.hpp
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nav2_behavior_tree/plugins/condition/is_path_valid_condition.cpp
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nav2_planner/src/planner_server.cpp
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| cost == nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE)) | ||
| { | ||
| response->is_valid = false; | ||
| break; | ||
| } else if (cost == nav2_costmap_2d::LETHAL_OBSTACLE) { | ||
| } else if (cost == nav2_costmap_2d::LETHAL_OBSTACLE || cost > request->max_cost) { |
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| } else if (cost == nav2_costmap_2d::LETHAL_OBSTACLE || cost > request->max_cost) { | |
| } else if (cost == nav2_costmap_2d::LETHAL_OBSTACLE || cost >= request->max_cost) { |
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I think we treat NO_INFORMATION(255) as FREE_SPACE here, so I should convert 255 to 0 / do a simple && cost!=FREE_SAPCE here, am I correct?
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This is a good point - I think if we add in max_cost, we should also add in a bool service argument for unknown_valid and we check if the cost is larger than the max cost and if unknown should be considered valid or invalid (collision). It would need to be exposed from the BT node and so forth as well - but easy enough!
Signed-off-by: mini-1235 <[email protected]>
Signed-off-by: mini-1235 <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
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One sec - lets let CI turn over again, a bunch of weird unusual tests failed and I want to make sure it wasn't just a fluke. Retriggering |
* Add ispathvalid maxcost Signed-off-by: mini-1235 <[email protected]> * Fix problems as requested Signed-off-by: mini-1235 <[email protected]> * Set default as 253, Add considered unknown as obstacle Signed-off-by: mini-1235 <[email protected]> * Edit comment Signed-off-by: mini-1235 <[email protected]> * Update nav2_planner/src/planner_server.cpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: mini-1235 <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Steve Macenski <[email protected]>
Basic Info
Description of contribution in a few bullet points
Description of documentation updates required from your changes
Add new parameter description https://docs.nav2.org/configuration/packages/bt-plugins/conditions/IsPathValid.html
Description of how this change was tested
Wrote a new test to test this and also tested on custom simulation env
Future work that may be required in bullet points
For Maintainers: