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Nav/cost map#67

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ejhon1116 wants to merge 120 commits intomainumrover/mrover-ros2:mainfrom nav/cost_mapumrover/mrover-ros2:nav/cost_mapCopy head branch name to clipboard

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Commits on Sep 19, 2024

• costs are being mapped

  Crypt1cG

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Commits on Sep 24, 2024

• ported python costmap code (still need to test)

  Crypt1cG

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• got rid of rospy thing

  Crypt1cG

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Commits on Sep 29, 2024

• water bottle search seems to work

  Crypt1cG

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• added service for moving cost map

  Crypt1cG

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Commits on Oct 26, 2024

• created new launch files for costmap

  Crypt1cG

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Commits on Oct 28, 2024

• changed argument initialization for point and quat and fixed float parameter bugs

  ejhon1116

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• added textured world fbx

  ejhon1116

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Commits on Oct 29, 2024

• added xacro rock files

  ejhon1116

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• added rock fbx

  ejhon1116

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• updated config for rocks and added rock texture

  ejhon1116

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Commits on Nov 1, 2024

• added general costmap searching and began unit testing for astar

  ejhon1116

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• completed a testing suite for the astar algo(major searching flaws in the current implementation)

  ejhon1116

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• ui improvements

  ejhon1116

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• made node hashable and closed_list into a set

  ejhon1116

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Commits on Nov 2, 2024

• minor changes, nothing fundamental

  ejhon1116

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Commits on Nov 4, 2024

• rewrote astar with correct implementation

  ejhon1116

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• implemented the improved astar into the water bottle search, using astar exclusively to form paths

  ejhon1116

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Commits on Nov 5, 2024

• small style updates to waterbottlesearch and removed extra functions

  ejhon1116

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Commits on Nov 7, 2024

• updated costmap_search

  ejhon1116

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• completed search state using astar but cost map bounding box needs refinement

  ejhon1116

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• implemented astar into driving to the waypoint, buggy but working

  ejhon1116

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• Merge remote-tracking branch 'refs/remotes/origin/nav/cost_map' into nav/cost_map

  ejhon1116

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• added astar pathing in going towards waypoints

  ejhon1116

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Commits on Nov 8, 2024

• configured costmap_search to only use astar when needed

  ejhon1116

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• forgot to include the added threshold parameter for last commit

  ejhon1116

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• updated regular search for new parameters

  ejhon1116

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Commits on Nov 10, 2024

• fixed costmap dilation and fixed issue with costmap rendering under the rover

  ejhon1116

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• added astar functionality moving to waypoint

  ejhon1116

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Commits on Nov 11, 2024

• moved trajectory generation and use_astar into astar.py

  ejhon1116

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• added comments and docstring

  ejhon1116

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• added moving costmap through context.move_costmap function and costmap threshold parameter

  ejhon1116

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• functionality fixes for costmap search and approaching

  ejhon1116

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• oops forgot to remove a negative sign:

  ejhon1116

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• updated config

  ejhon1116

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• small variable value changes

  ejhon1116

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• added costmap rviz config

  Crypt1cG

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Commits on Nov 15, 2024

• added segmentation for moving to a waypoint

  ejhon1116

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• Implement cost map inflation with max cost within 1.5m and gradual decrease up to 3m radius for objects. Rough implementation, needs work.

  snkris1

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Commits on Nov 19, 2024

• Fixed high cost on rover spawn

  snkris1

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Commits on Nov 24, 2024

• Add is_path_blocked function to check for obstacles in the rover's path. Simple detection zone for testing; can easily be modifed to create more complex detection zones.

  snkris1

  committed
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• Minor change.

  snkris1

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• added angle threshhold for astar

  Superdude11235

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Commits on Nov 26, 2024

• finished angle thresh. began testing more

  Superdude11235

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Commits on Dec 2, 2024

• latest angle thresh

  Superdude11235

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  233e9e2

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• fixed faulty trajectory retrieval in waypoint

  ejhon1116

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• config changes

  ejhon1116

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• Merge remote-tracking branch 'refs/remotes/origin/nav/cost_map' into nav/cost_map

  ejhon1116

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Commits on Dec 8, 2024

• waypoint wip

  ejhon1116

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• fix nanoseconds

  Superdude11235

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• merged

  Superdude11235

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• wip

  ejhon1116

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• added recovery parameters

  ejhon1116

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Commits on Jan 12, 2025

• minor changes

  ejhon1116

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Commits on Jan 17, 2025

• fixed astar heuristic

  ejhon1116

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• wip trajectory segmentation for search spiral

  kristerdprisant

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  f6f462a

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• Merge branch 'nav/cost_map' of github.com:umrover/mrover-ros2 into nav/cost_map

  kristerdprisant

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• cleaned up astar code

  ejhon1116

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• added distance, time and speed measurements

  ejhon1116

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  e4e5c44

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• updated rviz for markerrs and simulator for different scenarios

  ejhon1116

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• added marker generator function to utils and place markers between waypoints and spiral segments for visualization

  ejhon1116

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• cleaned up code and made small parameter changes

  ejhon1116

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Commits on Jan 18, 2025

• fixed tf tree waypoint issue by adding a waypoints attribute to course

  ejhon1116

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Commits on Jan 19, 2025

• sim creator for rocks and stuff

  ejhon1116

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• Updated the sim creator

  Superdude11235

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Commits on Jan 20, 2025

• implemented astar into the approach state

  ejhon1116

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• significantly cleaned up the files: easier future implementation

  ejhon1116

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• added some more utility functions

  ejhon1116

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Commits on Jan 23, 2025

• parameter changes

  ejhon1116

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• Merge remote-tracking branch 'refs/remotes/origin/nav/cost_map' into nav/cost_map

  ejhon1116

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• adding the segmentation

  kristerdprisant

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Commits on Jan 24, 2025

• make subbranch

  Superdude11235

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• hi

  Superdude11235

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• style fixes

  ejhon1116

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• testing bottle cost

  Superdude11235

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• Merge branch 'nav/cost_map' into nav/bottle_cost

  Superdude11235

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Commits on Jan 26, 2025

• deleted out of date water bottle import

  Superdude11235

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• Merge branch 'nav/cost_map' into nav/bottle_cost

  Superdude11235

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• deleted the waterbottlesearch and rocks in simyaml

  ejhon1116

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• Merge remote-tracking branch 'refs/remotes/origin/nav/cost_map' into nav/cost_map

  ejhon1116

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• reverted

  Superdude11235

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• fixed waterbottlesearch stuff and an assertion issue

  ejhon1116

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• Merge branch 'nav/cost_map' into nav/bottle_cost

  Superdude11235

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• added segmentation again

  kristerdprisant

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  f31ccd3

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• Deleted line with old water bottle search import

  Superdude11235

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• fixed sim creator

  Superdude11235

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• fixed toggling between using and not using costmap in param

  ejhon1116

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• Merge remote-tracking branch 'refs/remotes/origin/nav/cost_map' into nav/cost_map

  ejhon1116

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• ci fix

  ejhon1116

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• fixed issue with approach

  Superdude11235

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• Merge branch 'nav/cost_map' of github.com:umrover/mrover-ros2 into nav/cost_map

  Superdude11235

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• Merge

  Superdude11235

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• finished segmentation implementation into search spiral trajectory

  kristerdprisant

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• Merge branch 'nav/cost_map' into nav/bottle_cost

  Superdude11235

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• Merge branch 'nav/cost_map' of github.com:umrover/mrover-ros2 into nav/cost_map

  kristerdprisant

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• finished segmentation implementation into search spiral trajectory with param max_segment_length

  kristerdprisant

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• fixed param issue and style fix

  ejhon1116

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Commits on Jan 27, 2025

• merge updated segmentation stuff

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  Superdude11235

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• added marker for water bottle on rviz

  Superdude11235

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Commits on Jan 28, 2025

• started working on calculating nearest point

  Superdude11235

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Commits on Jan 31, 2025

• continued working on calculating nearest point

  Superdude11235

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• Finished calculating nearest point, fixed segment path

  Superdude11235

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Commits on Feb 3, 2025

• Added runtime error when can't find nearest point in radius

  Superdude11235

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• fixd coordinate utisl

  ejhon1116

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• Merge branch 'nav/bottle_cost' of github.com:umrover/mrover-ros2 into nav/bottle_cost

  ejhon1116

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Commits on Feb 4, 2025

• Added distance threshold to bottle. Currently spasms if not in threshold

  Superdude11235

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Commits on Feb 6, 2025

• working on long range projection expiration

  ejhon1116

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Commits on Feb 7, 2025

• Revert "fixed param issue and style fix"

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  ejhon1116

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• Reapply "fixed param issue and style fix"

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  ejhon1116

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• Revert "working on long range projection expiration"

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  ejhon1116

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• Fixed issue where target is circled by high cost. Now, calculates nearest point outside of circle instead.

  Superdude11235

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• Cleaned up a bit.

  Superdude11235

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Commits on Feb 9, 2025

• Started with dilating costmap when not close enough to target

  Superdude11235

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Commits on Feb 16, 2025

• fixed waiting for costmap issue

  ejhon1116

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• Basically working. Oscillations occur when unsure what closest point is.

  Superdude11235

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• removed buggy include statement

  ejhon1116

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Commits on Feb 17, 2025

• Completely working! Optimized to find best point to navigate toward when target is in a high cost area.

  Superdude11235

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• Merge branch 'nav/bottle_cost' of github.com:umrover/mrover-ros2 into nav/bottle_cost

  Superdude11235

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• Merge branch 'nav/bottle_cost' into nav/cost_map

  Superdude11235

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• Small update

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