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Backport bidirectional settings #4954 to Jazzy #5260

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Merged
merged 1 commit into from
Jun 12, 2025
Merged

Backport bidirectional settings #4954 to Jazzy #5260

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1 change: 1 addition & 0 deletions nav2_bringup/params/nav2_params.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -102,6 +102,7 @@ controller_server:
ax_max: 3.0
ax_min: -3.0
ay_max: 3.0
ay_min: -3.0
az_max: 3.5
vx_std: 0.2
vy_std: 0.2
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1 change: 1 addition & 0 deletions nav2_mppi_controller/include/nav2_mppi_controller/models/constraints.hpp
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Expand Up @@ -31,6 +31,7 @@ struct ControlConstraints
float ax_max;
float ax_min;
float ay_max;
float ay_min;
float az_max;
};

Expand Down
4 changes: 2 additions & 2 deletions nav2_mppi_controller/include/nav2_mppi_controller/models/optimizer_settings.hpp
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Expand Up @@ -27,8 +27,8 @@ namespace mppi::models
*/
struct OptimizerSettings
{
models::ControlConstraints base_constraints{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f};
models::ControlConstraints constraints{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f};
models::ControlConstraints base_constraints{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f};
models::ControlConstraints constraints{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f};
models::SamplingStd sampling_std{0.0f, 0.0f, 0.0f};
float model_dt{0.0f};
float temperature{0.0f};
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15 changes: 12 additions & 3 deletions nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp
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Expand Up @@ -86,14 +86,19 @@ class MotionModel
float max_delta_vx = model_dt_ * control_constraints_.ax_max;
float min_delta_vx = model_dt_ * control_constraints_.ax_min;
float max_delta_vy = model_dt_ * control_constraints_.ay_max;
float min_delta_vy = model_dt_ * control_constraints_.ay_min;
float max_delta_wz = model_dt_ * control_constraints_.az_max;
for (unsigned int i = 0; i != state.vx.shape(0); i++) {
float vx_last = state.vx(i, 0);
float vy_last = state.vy(i, 0);
float wz_last = state.wz(i, 0);
for (unsigned int j = 1; j != state.vx.shape(1); j++) {
float & cvx_curr = state.cvx(i, j - 1);
cvx_curr = std::clamp(cvx_curr, vx_last + min_delta_vx, vx_last + max_delta_vx);
if (vx_last > 0) {
cvx_curr = std::clamp(cvx_curr, vx_last + min_delta_vx, vx_last + max_delta_vx);
} else {
cvx_curr = std::clamp(cvx_curr, vx_last - max_delta_vx, vx_last - min_delta_vx);
}
state.vx(i, j) = cvx_curr;
vx_last = cvx_curr;

Expand All @@ -104,7 +109,11 @@ class MotionModel

if (is_holo) {
float & cvy_curr = state.cvy(i, j - 1);
cvy_curr = std::clamp(cvy_curr, vy_last - max_delta_vy, vy_last + max_delta_vy);
if (vy_last > 0) {
cvy_curr = std::clamp(cvy_curr, vy_last + min_delta_vy, vy_last + max_delta_vy);
} else {
cvy_curr = std::clamp(cvy_curr, vy_last - max_delta_vy, vy_last - min_delta_vy);
}
state.vy(i, j) = cvy_curr;
vy_last = cvy_curr;
}
Expand All @@ -127,7 +136,7 @@ class MotionModel
protected:
float model_dt_{0.0};
models::ControlConstraints control_constraints_{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f,
0.0f};
0.0f, 0.0f};
};

/**
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21 changes: 19 additions & 2 deletions nav2_mppi_controller/src/optimizer.cpp
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Expand Up @@ -80,6 +80,7 @@ void Optimizer::getParams()
getParam(s.base_constraints.ax_max, "ax_max", 3.0f);
getParam(s.base_constraints.ax_min, "ax_min", -3.0f);
getParam(s.base_constraints.ay_max, "ay_max", 3.0f);
getParam(s.base_constraints.ay_min, "ay_min", -3.0f);
getParam(s.base_constraints.az_max, "az_max", 3.5f);
getParam(s.sampling_std.vx, "vx_std", 0.2f);
getParam(s.sampling_std.vy, "vy_std", 0.2f);
Expand All @@ -94,6 +95,13 @@ void Optimizer::getParams()
"Sign of the parameter ax_min is incorrect, consider setting it negative.");
}

if (s.base_constraints.ay_min > 0.0) {
s.base_constraints.ay_min = -1.0 * s.base_constraints.ay_min;
RCLCPP_WARN(
logger_,
"Sign of the parameter ay_min is incorrect, consider setting it negative.");
}

getParam(motion_model_name, "motion_model", std::string("DiffDrive"));

s.constraints = s.base_constraints;
Expand Down Expand Up @@ -267,13 +275,18 @@ void Optimizer::applyControlSequenceConstraints()
float max_delta_vx = s.model_dt * s.constraints.ax_max;
float min_delta_vx = s.model_dt * s.constraints.ax_min;
float max_delta_vy = s.model_dt * s.constraints.ay_max;
float min_delta_vy = s.model_dt * s.constraints.ay_min;
float max_delta_wz = s.model_dt * s.constraints.az_max;
float vx_last = control_sequence_.vx(0);
float vy_last = control_sequence_.vy(0);
float wz_last = control_sequence_.wz(0);
for (unsigned int i = 1; i != control_sequence_.vx.shape(0); i++) {
float & vx_curr = control_sequence_.vx(i);
vx_curr = std::clamp(vx_curr, vx_last + min_delta_vx, vx_last + max_delta_vx);
if (vx_last > 0) {
vx_curr = std::clamp(vx_curr, vx_last + min_delta_vx, vx_last + max_delta_vx);
} else {
vx_curr = std::clamp(vx_curr, vx_last - max_delta_vx, vx_last - min_delta_vx);
}
vx_last = vx_curr;

float & wz_curr = control_sequence_.wz(i);
Expand All @@ -282,7 +295,11 @@ void Optimizer::applyControlSequenceConstraints()

if (isHolonomic()) {
float & vy_curr = control_sequence_.vy(i);
vy_curr = std::clamp(vy_curr, vy_last - max_delta_vy, vy_last + max_delta_vy);
if (vy_last > 0) {
vy_curr = std::clamp(vy_curr, vy_last + min_delta_vy, vy_last + max_delta_vy);
} else {
vy_curr = std::clamp(vy_curr, vy_last - max_delta_vy, vy_last - min_delta_vy);
}
vy_last = vy_curr;
}
}
Expand Down
8 changes: 6 additions & 2 deletions nav2_mppi_controller/test/optimizer_unit_tests.cpp
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Expand Up @@ -186,13 +186,14 @@ class OptimizerTester : public Optimizer
float max_delta_vx = settings_.constraints.ax_max * settings_.model_dt;
float min_delta_vx = settings_.constraints.ax_min * settings_.model_dt;
float max_delta_vy = settings_.constraints.ay_max * settings_.model_dt;
float min_delta_vy = settings_.constraints.ay_min * settings_.model_dt;
float max_delta_wz = settings_.constraints.az_max * settings_.model_dt;
propagateStateVelocitiesFromInitials(state);
EXPECT_NEAR(state.vx(0, 0), 5.0, 1e-6);
EXPECT_NEAR(state.vy(0, 0), 1.0, 1e-6);
EXPECT_NEAR(state.wz(0, 0), 6.0, 1e-6);
EXPECT_NEAR(state.vx(0, 1), std::clamp(0.75, 5.0 + min_delta_vx, 5.0 + max_delta_vx), 1e-6);
EXPECT_NEAR(state.vy(0, 1), std::clamp(0.5, 1.0 - max_delta_vy, 1.0 + max_delta_vy), 1e-6);
EXPECT_NEAR(state.vy(0, 1), std::clamp(0.5, 1.0 + min_delta_vy, 1.0 + max_delta_vy), 1e-6);
EXPECT_NEAR(state.wz(0, 1), std::clamp(0.1, 6.0 - max_delta_wz, 6.0 + max_delta_wz), 1e-6);

// Putting them together: updateStateVelocities
Expand Down Expand Up @@ -234,16 +235,18 @@ TEST(OptimizerTests, BasicInitializedFunctions)
node->declare_parameter("mppic.time_steps", rclcpp::ParameterValue(50));
node->declare_parameter("controller_frequency", rclcpp::ParameterValue(30.0));
node->declare_parameter("mppic.ax_min", rclcpp::ParameterValue(3.0));
node->declare_parameter("mppic.ay_min", rclcpp::ParameterValue(3.0));
auto costmap_ros = std::make_shared<nav2_costmap_2d::Costmap2DROS>(
"dummy_costmap", "", "dummy_costmap", true);
ParametersHandler param_handler(node);
rclcpp_lifecycle::State lstate;
costmap_ros->on_configure(lstate);
optimizer_tester.initialize(node, "mppic", costmap_ros, &param_handler);

// Test value of ax_min, it should be negative
// Test value of ax_min, ay_min it should be negative
auto & constraints = optimizer_tester.getControlConstraints();
EXPECT_EQ(constraints.ax_min, -3.0);
EXPECT_EQ(constraints.ay_min, -3.0);

// Should be empty of size batches x time steps
// and tests getting set params: time_steps, batch_size, controller_frequency
Expand Down Expand Up @@ -539,6 +542,7 @@ TEST(OptimizerTests, updateStateVelocitiesTests)
node->declare_parameter("mppic.ax_max", rclcpp::ParameterValue(3.0));
node->declare_parameter("mppic.ax_min", rclcpp::ParameterValue(-3.0));
node->declare_parameter("mppic.ay_max", rclcpp::ParameterValue(3.0));
node->declare_parameter("mppic.ay_min", rclcpp::ParameterValue(-3.0));
node->declare_parameter("mppic.az_max", rclcpp::ParameterValue(3.5));
auto costmap_ros = std::make_shared<nav2_costmap_2d::Costmap2DROS>(
"dummy_costmap", "", "dummy_costmap", true);
Expand Down
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