Comments (4)
SteveMacenski
commented on May 27, 2024
Where is the goal in this example and what are your goal tolerances? I've never seen one quite so involved, kudos to you!
Interestingly, a change like proposed in #4003 would solve this issue for you. It also isn't terribly difficult or involved either to implement. I think @jwallace42 might be working on it, but we should check with him first to make sure -- if not, that would be a great contribution to the stack and something we can consider strongly making a default behavoral change for Nav2 out of the box (@naiveHobo ). This seems like a reasonable, general purpose change to make across the board.
if close to goal -> check if path is valid -> if so, don't update EZ-PZ with intuitive parameter dials to tune for any given situation
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jwallace42
commented on May 27, 2024
I am currently not looking into it @shannonwarren so you are free to tackle it. :)
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shannonwarren
commented on May 27, 2024
My goal point is exactly where the purple marker is located (lookahead point) and my goal tolerances are
course_goal_checker:
plugin: "nav2_controller::SimpleGoalChecker"
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.2
Thank for the above information. We're facing the similar looping issue.
I'm looking into your suggestion of implementing a proximity check and avoid replanning. My current thought process is to use the PathExpiringTimer condition since that triggers new paths periodically and adding an input port which takes in the goal pose.
Condition ID="PathExpiringTimer">
<input_port name="seconds">Time to check if expired</input_port>
<input_port name="path">Check if path has been updated to enable timer reset</input_port>
<input_port name="goal">Destination</input_port>
and then in the pathexpiringtimer bt node doing a simple check.
if (isRobotNearGoal()) {
return BT::NodeStatus::FAILURE;
}
What do you think? @SteveMacenski @jwallace42
Additionally, increasing the <PathExpiringTimer seconds="60" path="{path}" goal="{goal}"/> to a really large value kinda helps (makes senses but doesnt solve the problem but helps unnecessary replanning). Are there any downsides to this approach that I'm not thinking about?
Just as a reference this is my behavior tree
<root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<RecoveryNode number_of_retries="6" name="NavigateRecovery">
<PipelineSequence name="NavigateWithReplanning">
<PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
<RateController hz="1.0">
<RecoveryNode number_of_retries="1" name="ComputePathToPose">
<Fallback>
<ReactiveSequence>
<Inverter>
<PathExpiringTimer seconds="60" path="{path}" goal="{goal}"/>
</Inverter>
<Inverter>
<GlobalUpdatedGoal/>
</Inverter>
<IsPathValid path="{path}"/>
</ReactiveSequence>
<ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}"/>
</Fallback>
<ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
</RecoveryNode>
</RateController>
<GoalCheckerSelector selected_goal_checker="{selected_goal_checker}" default_goal_checker="course_goal_checker" topic_name="goal_checker_selector"/>
<ControllerSelector selected_controller="{selected_controller}" default_controller="course_navigation" topic_name="controller_selector"/>
<ReactiveSequence name="MonitorAndFollowPath">
<PathLongerOnApproach path="{path}" prox_len="5.0" length_factor="1.1">
<RetryUntilSuccessful num_attempts="1">
<SequenceStar name="CancelingControlAndWait">
<CancelControl name="ControlCancel"/>
<Wait wait_duration="10"/>
</SequenceStar>
</RetryUntilSuccessful>
</PathLongerOnApproach>
<RecoveryNode number_of_retries="1" name="FollowPath">
<FollowPath path="{path}" controller_id="{selected_controller}" goal_checker_id="{selected_goal_checker}"/>
<Sequence name="ClearingActions">
<ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
<ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
<BackUp backup_dist="0.30" backup_speed="0.05"/>
<Wait wait_duration="2"/>
<Spin spin_dist="-0.1"/>
<DriveOnHeading dist_to_travel="0.60" speed="0.05"/>
</Sequence>
</RecoveryNode>
</ReactiveSequence>
</PipelineSequence>
<ReactiveFallback name="RecoveryFallback">
<GoalUpdated/>
<RoundRobin name="RecoveryActions">
<Sequence name="ClearingActions">
<ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
<ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
</Sequence>
<BackUp backup_dist="0.30" backup_speed="0.05"/>
<Wait wait_duration="2"/>
<!-- <Spin spin_dist="-0.1"/> -->
<!-- <DriveOnHeading dist_to_travel="0.50" speed="0.05"/> -->
<Strafe strafe_dist="0.10" strafe_speed="0.05"/>
</RoundRobin>
</ReactiveFallback>
</RecoveryNode>
</BehaviorTree>
</root>
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SteveMacenski
commented on May 27, 2024
0.25/0.20 aren't that tight of goal criteria to be a contributor.
I think perhaps we should move this discussion over to that ticket if we're going down that direction. Thus closing this ticket and moving my response over there
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