Uses costmap 2d to assign negative costs if a circular robot would collide at any point of the trajectory. More...

#include <nav2_dwb_controller/dwb_critics/include/dwb_critics/base_obstacle.hpp>

Inheritance diagram for dwb_critics::BaseObstacleCritic:

Collaboration diagram for dwb_critics::BaseObstacleCritic:

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Public Member Functions
void	onInit () override

double	scoreTrajectory (const dwb_msgs::msg::Trajectory2D &traj) override
	Return a raw score for the given trajectory. More...

void	addCriticVisualization (std::vector< std::pair< std::string, std::vector< float >>> &cost_channels) override
	Add information to the given pointcloud for debugging costmap-grid based scores. More...

virtual double	scorePose (const geometry_msgs::msg::Pose2D &pose)
	Return the obstacle score for a particular pose. More...

virtual bool	isValidCost (const unsigned char cost)
	Check to see whether a given cell cost is valid for driving through. More...

Public Member Functions inherited from dwb_core::TrajectoryCritic
void	initialize (const nav2_util::LifecycleNode::SharedPtr &nh, const std::string &name, const std::string &ns, std::shared_ptr< nav2_costmap_2d::Costmap2DROS > costmap_ros)
	Initialize the critic with appropriate pointers and parameters. More...

virtual void	reset ()
	Reset the state of the critic. More...

virtual bool	prepare (const geometry_msgs::msg::Pose2D &, const nav_2d_msgs::msg::Twist2D &, const geometry_msgs::msg::Pose2D &, const nav_2d_msgs::msg::Path2D &)
	Prior to evaluating any trajectories, look at contextual information constant across all trajectories. More...

virtual void	debrief (const nav_2d_msgs::msg::Twist2D &)
	debrief informs the critic what the chosen cmd_vel was (if it cares)

std::string	getName ()

virtual double	getScale () const

void	setScale (const double scale)

Protected Attributes
nav2_costmap_2d::Costmap2D *	costmap_

bool	sum_scores_

Protected Attributes inherited from dwb_core::TrajectoryCritic
std::string	name_

std::string	dwb_plugin_name_

std::shared_ptr< nav2_costmap_2d::Costmap2DROS >	costmap_ros_

double	scale_

rclcpp_lifecycle::LifecycleNode::WeakPtr	node_

Additional Inherited Members
Public Types inherited from dwb_core::TrajectoryCritic
using	Ptr = std::shared_ptr< dwb_core::TrajectoryCritic >

Detailed Description

Uses costmap 2d to assign negative costs if a circular robot would collide at any point of the trajectory.

This class can only be used to figure out if a circular robot is in collision. If the cell corresponding with any of the poses in the Trajectory is an obstacle, inscribed obstacle or unknown, it will return a negative cost. Otherwise it will return either the final pose's cost, or the sum of all poses, depending on the sum_scores parameter.

Other classes (like ObstacleFootprintCritic) can do more advanced checking for collisions.

Definition at line 57 of file base_obstacle.hpp.

Member Function Documentation

◆ addCriticVisualization()

void dwb_critics::BaseObstacleCritic::addCriticVisualization ( std::vector< std::pair< std::string, std::vector< float >>> & )

overridevirtual

Add information to the given pointcloud for debugging costmap-grid based scores.

addCriticVisualization is an optional debugging mechanism for providing rich information about the cost for certain trajectories. Some critics will have scoring mechanisms wherein there will be some score for each cell in the costmap. This could be as straightforward as the cost in the costmap, or it could be the number of cells away from the goal pose.

Prior to calling this, dwb_core will load the PointCloud's header and the points in row-major order. The critic may then add a ChannelFloat to the channels member of the PC with the same number of values as the points array. This information may then be converted and published as a PointCloud2.

Parameters