Address PR comments

nav2_bringup/bringup/params/nav2_multirobot_params_1.yaml

@@ -112,6 +112,10 @@ controller_server:
     FollowPath.PathDist.scale: 3.0
     FollowPath.GoalDist.scale: 4.0
     FollowPath.RotateToGoal.scale: 2.0
+    FollowPath.short_circuit_trajectory_evaluation: True
+    FollowPath.trans_stopped_velocity: 0.25
+    FollowPath.slowing_factor: 5.0
+    FollowPath.lookahead_time: -1.0
 
 controller_server_rclcpp_node:
   ros__parameters:

nav2_bringup/bringup/params/nav2_multirobot_params_2.yaml

@@ -112,6 +112,10 @@ controller_server:
     FollowPath.PathDist.scale: 3.0
     FollowPath.GoalDist.scale: 4.0
     FollowPath.RotateToGoal.scale: 2.0
+    FollowPath.short_circuit_trajectory_evaluation: True
+    FollowPath.trans_stopped_velocity: 0.25
+    FollowPath.slowing_factor: 5.0
+    FollowPath.lookahead_time: -1.0
 
 controller_server_rclcpp_node:
   ros__parameters:

nav2_bringup/bringup/params/nav2_params.yaml

@@ -113,6 +113,10 @@ controller_server:
     FollowPath.PathDist.scale: 3.0
     FollowPath.GoalDist.scale: 4.0
     FollowPath.RotateToGoal.scale: 2.0
+    FollowPath.short_circuit_trajectory_evaluation: True
+    FollowPath.trans_stopped_velocity: 0.25
+    FollowPath.slowing_factor: 5.0
+    FollowPath.lookahead_time: -1.0
 
 controller_server_rclcpp_node:
   ros__parameters:

nav2_dwb_controller/dwb_core/include/dwb_core/dwb_local_planner.hpp

@@ -175,7 +175,8 @@ class DWBLocalPlanner : public nav2_core::Controller
    *     and the saved global_plan_. Technically, it iterates to a pose on the path that is within prune_distance_
    *     of the robot and erases all poses before that.
    */
-  virtual nav_2d_msgs::msg::Path2D transformGlobalPlan(const nav_2d_msgs::msg::Pose2DStamped & pose);
+  virtual nav_2d_msgs::msg::Path2D transformGlobalPlan(
+    const nav_2d_msgs::msg::Pose2DStamped & pose);
   nav_2d_msgs::msg::Path2D global_plan_;  ///< Saved Global Plan
   bool prune_plan_;
   double prune_distance_;

nav2_dwb_controller/dwb_core/include/dwb_core/trajectory_critic.hpp

@@ -102,7 +102,8 @@ class TrajectoryCritic
     nh_ = nh;
     dwb_plugin_name_ = ns;
     if (!nh_->has_parameter(dwb_plugin_name_ + "." + name_ + ".scale")) {
-      nh_->declare_parameter(dwb_plugin_name_ + "." + name_ + ".scale",
+      nh_->declare_parameter(
+        dwb_plugin_name_ + "." + name_ + ".scale",
         rclcpp::ParameterValue(1.0));
     }
     nh_->get_parameter(dwb_plugin_name_ + "." + name_ + ".scale", scale_);

nav2_dwb_controller/dwb_core/include/dwb_core/trajectory_utils.hpp

@@ -49,7 +49,9 @@ namespace dwb_local_planner
  * Linearly searches through the poses. Once the poses time_offset is greater than the desired time_offset,
  * the search ends, since the poses have increasing time_offsets.
  */
-const geometry_msgs::msg::Pose2D& getClosestPose(const dwb_msgs::msg::Trajectory2D& trajectory, const double time_offset);
+const geometry_msgs::msg::Pose2D & getClosestPose(
+  const dwb_msgs::msg::Trajectory2D & trajectory,
+  const double time_offset);
 
 /**
  * @brief Helper function to create a pose with an exact time_offset by linearly interpolating between existing poses
@@ -58,8 +60,10 @@ const geometry_msgs::msg::Pose2D& getClosestPose(const dwb_msgs::msg::Trajectory
  * @return New Pose2D with interpolated values
  * @note If the given time offset is outside the bounds of the trajectory, the return pose will be either the first or last pose.
  */
-geometry_msgs::msg::Pose2D projectPose(const dwb_msgs::msg::Trajectory2D& trajectory, const double time_offset);
+geometry_msgs::msg::Pose2D projectPose(
+  const dwb_msgs::msg::Trajectory2D & trajectory,
+  const double time_offset);
 
 }  // namespace dwb_local_planner
 
-#endif  // DWB_LOCAL_PLANNER_TRAJECTORY_UTILS_H
+#endif  // DWB_LOCAL_PLANNER_TRAJECTORY_UTILS_H

nav2_dwb_controller/dwb_core/src/dwb_local_planner.cpp

@@ -74,19 +74,26 @@ void DWBLocalPlanner::configure(
   tf_ = tf;
   dwb_plugin_name_ = name;
   declare_parameter_if_not_declared(node_, dwb_plugin_name_ + ".critics");
-  declare_parameter_if_not_declared(node_, dwb_plugin_name_ + ".prune_plan",
+  declare_parameter_if_not_declared(
+    node_, dwb_plugin_name_ + ".prune_plan",
     rclcpp::ParameterValue(true));
-  declare_parameter_if_not_declared(node_, dwb_plugin_name_ + ".prune_distance",
+  declare_parameter_if_not_declared(
+    node_, dwb_plugin_name_ + ".prune_distance",
     rclcpp::ParameterValue(1.0));
-  declare_parameter_if_not_declared(node_, dwb_plugin_name_ + ".debug_trajectory_details",
+  declare_parameter_if_not_declared(
+    node_, dwb_plugin_name_ + ".debug_trajectory_details",
     rclcpp::ParameterValue(false));
-  declare_parameter_if_not_declared(node_, dwb_plugin_name_ + ".trajectory_generator_name",
+  declare_parameter_if_not_declared(
+    node_, dwb_plugin_name_ + ".trajectory_generator_name",
     rclcpp::ParameterValue(std::string("dwb_plugins::StandardTrajectoryGenerator")));
-  declare_parameter_if_not_declared(node_, dwb_plugin_name_ + ".goal_checker_name",
+  declare_parameter_if_not_declared(
+    node_, dwb_plugin_name_ + ".goal_checker_name",
     rclcpp::ParameterValue(std::string("dwb_plugins::SimpleGoalChecker")));
-  declare_parameter_if_not_declared(node_, dwb_plugin_name_ + ".transform_tolerance",
+  declare_parameter_if_not_declared(
+    node_, dwb_plugin_name_ + ".transform_tolerance",
     rclcpp::ParameterValue(0.1));
-  declare_parameter_if_not_declared(node_, dwb_plugin_name_ + ".short_circuit_trajectory_evaluation",
+  declare_parameter_if_not_declared(
+    node_, dwb_plugin_name_ + ".short_circuit_trajectory_evaluation",
     rclcpp::ParameterValue(true));
 
   std::string traj_generator_name;
@@ -102,7 +109,9 @@ void DWBLocalPlanner::configure(
   node_->get_parameter(dwb_plugin_name_ + ".debug_trajectory_details", debug_trajectory_details_);
   node_->get_parameter(dwb_plugin_name_ + ".trajectory_generator_name", traj_generator_name);
   node_->get_parameter(dwb_plugin_name_ + ".goal_checker_name", goal_checker_name);
-  node_->get_parameter(dwb_plugin_name_ + ".short_circuit_trajectory_evaluation", short_circuit_trajectory_evaluation_);
+  node_->get_parameter(
+    dwb_plugin_name_ + ".short_circuit_trajectory_evaluation",
+    short_circuit_trajectory_evaluation_);
 
   pub_ = std::make_unique<DWBPublisher>(node_, dwb_plugin_name_);
   pub_->on_configure();
@@ -178,14 +187,16 @@ DWBLocalPlanner::loadCritics()
     std::string critic_plugin_name = critic_names[i];
     std::string plugin_class;
 
-    declare_parameter_if_not_declared(node_, dwb_plugin_name_ + "." + critic_plugin_name + ".class",
+    declare_parameter_if_not_declared(
+      node_, dwb_plugin_name_ + "." + critic_plugin_name + ".class",
       rclcpp::ParameterValue(critic_plugin_name));
     node_->get_parameter(dwb_plugin_name_ + "." + critic_plugin_name + ".class", plugin_class);
 
     plugin_class = resolveCriticClassName(plugin_class);
 
     TrajectoryCritic::Ptr plugin = critic_loader_.createUniqueInstance(plugin_class);
-    RCLCPP_INFO(node_->get_logger(),
+    RCLCPP_INFO(
+      node_->get_logger(),
       "Using critic \"%s\" (%s)", critic_plugin_name.c_str(), plugin_class.c_str());
     critics_.push_back(plugin);
     try {
@@ -202,7 +213,8 @@ void
 DWBLocalPlanner::loadBackwardsCompatibleParameters()
 {
   std::vector<std::string> critic_names;
-  RCLCPP_INFO(node_->get_logger(),
+  RCLCPP_INFO(
+    node_->get_logger(),
     "DWBLocalPlanner", "No critics configured! Using the default set.");
   critic_names.push_back("RotateToGoal");       // discards trajectories that move forward when
                                                 //   already at goal
@@ -227,7 +239,8 @@ DWBLocalPlanner::loadBackwardsCompatibleParameters()
   declare_parameter_if_not_declared(node_, dwb_plugin_name_ + ".PathDist.scale");
   declare_parameter_if_not_declared(node_, dwb_plugin_name_ + ".GoalDist.scale");
   declare_parameter_if_not_declared(node_, dwb_plugin_name_ + ".ObstacleFootprint.scale");
-  declare_parameter_if_not_declared(node_,
+  declare_parameter_if_not_declared(
+    node_,
     dwb_plugin_name_ + ".ObstacleFootprint.max_scaling_factor");
   declare_parameter_if_not_declared(node_, dwb_plugin_name_ + ".ObstacleFootprint.scaling_speed");
 
@@ -255,20 +268,23 @@ DWBLocalPlanner::isGoalReached(
   const geometry_msgs::msg::Twist & velocity)
 {
   if (global_plan_.poses.size() == 0) {
-    RCLCPP_WARN(rclcpp::get_logger(
+    RCLCPP_WARN(
+      rclcpp::get_logger(
         "DWBLocalPlanner"), "Cannot check if the goal is reached without the goal being set!");
     return false;
   }
   nav_2d_msgs::msg::Pose2DStamped local_start_pose2d, goal_pose2d, local_goal_pose2d;
 
-  nav_2d_utils::transformPose(tf_, costmap_ros_->getGlobalFrameID(),
+  nav_2d_utils::transformPose(
+    tf_, costmap_ros_->getGlobalFrameID(),
     nav_2d_utils::poseStampedToPose2D(pose),
     local_start_pose2d, transform_tolerance_);
 
   goal_pose2d.header.frame_id = global_plan_.header.frame_id;
   goal_pose2d.pose = global_plan_.poses.back();
 
-  nav_2d_utils::transformPose(tf_, costmap_ros_->getGlobalFrameID(), goal_pose2d,
+  nav_2d_utils::transformPose(
+    tf_, costmap_ros_->getGlobalFrameID(), goal_pose2d,
     local_goal_pose2d, transform_tolerance_);
 
   geometry_msgs::msg::PoseStamped local_start_pose, local_goal_pose;
@@ -277,7 +293,7 @@ DWBLocalPlanner::isGoalReached(
 
   bool ret = goal_checker_->isGoalReached(local_start_pose.pose, local_goal_pose.pose, velocity);
   if (ret) {
-    RCLCPP_WARN(rclcpp::get_logger("DWBLocalPlanner"), "Goal reached!");
+    RCLCPP_INFO(rclcpp::get_logger("DWBLocalPlanner"), "Goal reached!");
   }
   return ret;
 }
@@ -333,7 +349,8 @@ DWBLocalPlanner::prepareGlobalPlan(
 
   goal_pose.header.frame_id = global_plan_.header.frame_id;
   goal_pose.pose = global_plan_.poses.back();
-  nav_2d_utils::transformPose(tf_, costmap_ros_->getGlobalFrameID(), goal_pose,
+  nav_2d_utils::transformPose(
+    tf_, costmap_ros_->getGlobalFrameID(), goal_pose,
     goal_pose, transform_tolerance_);
 }
 
@@ -446,7 +463,8 @@ DWBLocalPlanner::coreScoringAlgorithm(
     if (debug_trajectory_details_) {
       RCLCPP_ERROR(rclcpp::get_logger("DWBLocalPlanner"), "%s", tracker.getMessage().c_str());
       for (auto const & x : tracker.getPercentages()) {
-        RCLCPP_ERROR(rclcpp::get_logger(
+        RCLCPP_ERROR(
+          rclcpp::get_logger(
             "DWBLocalPlanner"), "%.2f: %10s/%s", x.second,
           x.first.first.c_str(), x.first.second.c_str());
       }
@@ -509,8 +527,9 @@ DWBLocalPlanner::transformGlobalPlan(
 
   // let's get the pose of the robot in the frame of the plan
   nav_2d_msgs::msg::Pose2DStamped robot_pose;
-  if (!nav_2d_utils::transformPose(tf_, global_plan_.header.frame_id, pose,
-    robot_pose, transform_tolerance_))
+  if (!nav_2d_utils::transformPose(
+      tf_, global_plan_.header.frame_id, pose,
+      robot_pose, transform_tolerance_))
   {
     throw dwb_core::
           PlannerTFException("Unable to transform robot pose into global plan's frame");
@@ -580,7 +599,8 @@ DWBLocalPlanner::transformGlobalPlan(
       nav_2d_msgs::msg::Pose2DStamped stamped_pose, transformed_pose;
       stamped_pose.header.frame_id = global_plan_.header.frame_id;
       stamped_pose.pose = global_plan_pose;
-      nav_2d_utils::transformPose(tf_, transformed_plan.header.frame_id,
+      nav_2d_utils::transformPose(
+        tf_, transformed_plan.header.frame_id,
         stamped_pose, transformed_pose, transform_tolerance_);
       return transformed_pose.pose;
     };
@@ -606,5 +626,6 @@ DWBLocalPlanner::transformGlobalPlan(
 }  // namespace dwb_core
 
 // Register this controller as a nav2_core plugin
-PLUGINLIB_EXPORT_CLASS(dwb_core::DWBLocalPlanner,
+PLUGINLIB_EXPORT_CLASS(
+  dwb_core::DWBLocalPlanner,
   nav2_core::Controller)

nav2_dwb_controller/dwb_core/src/publisher.cpp

@@ -57,19 +57,26 @@ DWBPublisher::DWBPublisher(
   const std::string & plugin_name)
 : node_(node), plugin_name_(plugin_name)
 {
-  declare_parameter_if_not_declared(node_, plugin_name + ".publish_evaluation",
+  declare_parameter_if_not_declared(
+    node_, plugin_name + ".publish_evaluation",
     rclcpp::ParameterValue(true));
-  declare_parameter_if_not_declared(node_, plugin_name + ".publish_global_plan",
+  declare_parameter_if_not_declared(
+    node_, plugin_name + ".publish_global_plan",
     rclcpp::ParameterValue(true));
-  declare_parameter_if_not_declared(node_, plugin_name + ".publish_transformed_plan",
+  declare_parameter_if_not_declared(
+    node_, plugin_name + ".publish_transformed_plan",
     rclcpp::ParameterValue(true));
-  declare_parameter_if_not_declared(node_, plugin_name + ".publish_local_plan",
+  declare_parameter_if_not_declared(
+    node_, plugin_name + ".publish_local_plan",
     rclcpp::ParameterValue(true));
-  declare_parameter_if_not_declared(node_, plugin_name + ".publish_trajectories",
+  declare_parameter_if_not_declared(
+    node_, plugin_name + ".publish_trajectories",
     rclcpp::ParameterValue(true));
-  declare_parameter_if_not_declared(node_, plugin_name + ".publish_cost_grid_pc",
+  declare_parameter_if_not_declared(
+    node_, plugin_name + ".publish_cost_grid_pc",
     rclcpp::ParameterValue(false));
-  declare_parameter_if_not_declared(node_, plugin_name + ".marker_lifetime",
+  declare_parameter_if_not_declared(
+    node_, plugin_name + ".marker_lifetime",
     rclcpp::ParameterValue(0.1));
 }
 

nav2_dwb_controller/dwb_core/src/trajectory_utils.cpp

@@ -39,61 +39,60 @@
 
 namespace dwb_local_planner
 {
-const geometry_msgs::msg::Pose2D& getClosestPose(const dwb_msgs::msg::Trajectory2D& trajectory, const double time_offset)
+const geometry_msgs::msg::Pose2D & getClosestPose(
+  const dwb_msgs::msg::Trajectory2D & trajectory,
+  const double time_offset)
 {
   rclcpp::Duration goal_time = rclcpp::Duration::from_seconds(time_offset);
   const unsigned int num_poses = trajectory.poses.size();
-  if (num_poses == 0)
-  {
+  if (num_poses == 0) {
     throw nav2_core::PlannerException("Cannot call getClosestPose on empty trajectory.");
   }
   unsigned int closest_index = num_poses;
   double closest_diff = 0.0;
-  for (unsigned int i=0; i < num_poses; ++i)
-  {
+  for (unsigned int i = 0; i < num_poses; ++i) {
     double diff = std::fabs((rclcpp::Duration(trajectory.time_offsets[i]) - goal_time).seconds());
-    if (closest_index == num_poses || diff < closest_diff)
-    {
+    if (closest_index == num_poses || diff < closest_diff) {
       closest_index = i;
       closest_diff = diff;
     }
-    if (goal_time < rclcpp::Duration(trajectory.time_offsets[i]))
-    {
+    if (goal_time < rclcpp::Duration(trajectory.time_offsets[i])) {
       break;
     }
   }
   return trajectory.poses[closest_index];
 }
 
-geometry_msgs::msg::Pose2D projectPose(const dwb_msgs::msg::Trajectory2D& trajectory, const double time_offset)
+geometry_msgs::msg::Pose2D projectPose(
+  const dwb_msgs::msg::Trajectory2D & trajectory,
+  const double time_offset)
 {
   rclcpp::Duration goal_time = rclcpp::Duration::from_seconds(time_offset);
   const unsigned int num_poses = trajectory.poses.size();
-  if (num_poses == 0)
-  {
+  if (num_poses == 0) {
     throw nav2_core::PlannerException("Cannot call projectPose on empty trajectory.");
   }
-  if (goal_time <= (trajectory.time_offsets[0]))
-  {
+  if (goal_time <= (trajectory.time_offsets[0])) {
     return trajectory.poses[0];
-  }
-  else if (goal_time >= rclcpp::Duration(trajectory.time_offsets[num_poses - 1]))
-  {
+  } else if (goal_time >= rclcpp::Duration(trajectory.time_offsets[num_poses - 1])) {
     return trajectory.poses[num_poses - 1];
   }
 
-  for (unsigned int i=0; i < num_poses - 1; ++i)
-  {
-    if (goal_time >= rclcpp::Duration(trajectory.time_offsets[i]) && goal_time < rclcpp::Duration(trajectory.time_offsets[i+1]))
+  for (unsigned int i = 0; i < num_poses - 1; ++i) {
+    if (goal_time >= rclcpp::Duration(trajectory.time_offsets[i]) &&
+      goal_time < rclcpp::Duration(trajectory.time_offsets[i + 1]))
     {
-      double time_diff = (rclcpp::Duration(trajectory.time_offsets[i+1]) - rclcpp::Duration(trajectory.time_offsets[i])).seconds();
-      double ratio = (goal_time - rclcpp::Duration(trajectory.time_offsets[i])).seconds() / time_diff;
+      double time_diff =
+        (rclcpp::Duration(trajectory.time_offsets[i + 1]) -
+        rclcpp::Duration(trajectory.time_offsets[i])).seconds();
+      double ratio = (goal_time - rclcpp::Duration(trajectory.time_offsets[i])).seconds() /
+        time_diff;
       double inv_ratio = 1.0 - ratio;
-      const geometry_msgs::msg::Pose2D& pose_a = trajectory.poses[i];
-      const geometry_msgs::msg::Pose2D& pose_b = trajectory.poses[i + 1];
+      const geometry_msgs::msg::Pose2D & pose_a = trajectory.poses[i];
+      const geometry_msgs::msg::Pose2D & pose_b = trajectory.poses[i + 1];
       geometry_msgs::msg::Pose2D projected;
-      projected.x     = pose_a.x     * inv_ratio + pose_b.x     * ratio;
-      projected.y     = pose_a.y     * inv_ratio + pose_b.y     * ratio;
+      projected.x = pose_a.x * inv_ratio + pose_b.x * ratio;
+      projected.y = pose_a.y * inv_ratio + pose_b.y * ratio;
       projected.theta = pose_a.theta * inv_ratio + pose_b.theta * ratio;
       return projected;
     }
@@ -104,4 +103,4 @@ geometry_msgs::msg::Pose2D projectPose(const dwb_msgs::msg::Trajectory2D& trajec
 }
 
 
-}  // namespace dwb_local_planner
+}  // namespace dwb_local_planner

nav2_dwb_controller/dwb_critics/include/dwb_critics/rotate_to_goal.hpp

@@ -84,7 +84,7 @@ class RotateToGoalCritic : public dwb_core::TrajectoryCritic
    * @param traj Trajectory to score
    * @return numeric score
    */
-  virtual double scoreRotation(const dwb_msgs::msg::Trajectory2D& traj);
+  virtual double scoreRotation(const dwb_msgs::msg::Trajectory2D & traj);
 
 private:
   bool in_window_;

nav2_dwb_controller/dwb_critics/src/base_obstacle.cpp

@@ -47,7 +47,8 @@ void BaseObstacleCritic::onInit()
 {
   costmap_ = costmap_ros_->getCostmap();
 
-  nav2_util::declare_parameter_if_not_declared(nh_,
+  nav2_util::declare_parameter_if_not_declared(
+    nh_,
     dwb_plugin_name_ + "." + name_ + ".sum_scores", rclcpp::ParameterValue(false));
   nh_->get_parameter(dwb_plugin_name_ + "." + name_ + ".sum_scores", sum_scores_);
 }