New performance metrics including:
-
RCU: # of ClearCostMaps recovery executed for unstuck robot
-
RCL: # of ClearCostMaps layer recovery executed
-
IRC: # of invalid rotation cmd
-
ERG: # of error rotating on the goal
DRMS: The square root of the average of the squared horizontal position errors,; where standard deviation of the delta x and y,
. Probability of 65%
-
2DRMS: Twice the Distance Root Mean Squared (DRMS) of the horizontal position error,
. Probability of 95%
-
CPE: The radius of circle centered at the true position, containing the position estimate with probability of 50%.
-
RNS: robustness in narrow spaces,
; where Ns is the total narrow spaces in the gazebo environment, and passed_Ns is the narrow spaces that the robot successfully crossed.
Features:
- Added support for turn on/off gazebo and riviz visualization
- Added support for defining number of data points to be collected
- Added visualization of the results in terminal
- Automated installation script
Bug fixes
- Fixed the issue of spawning two husky in ROS Noetic
- Fixed the bug of always mission success even if the husky did not reach the goal
- Fixed random organization order bug in the Evaluation_results.csv
- Other positional bug fixes in the Odometery subscriber
- Inaccurate calculated distance bug fixed
- Fixed other performance improvement related issues
