Adding new MPPI controller to Nav2 (ros-navigation#3350)

* adding new MPPI controller to Nav2 * fixing rename for Nav2 staging * using larger resource class * fix plugin name * wz typo * add mppi gif * Update defaults.yaml * Update makeflags to match core count of resource_class: large * Bump cache version for testing CI changes * fixing tests * remove unused function * Update config.yml * adding a little more detail * adding contextual note * adding contextual exceptions * Fix using different frame for global and local costmap (ros-navigation#3425) * getGlobalPlanConsideringBoundsInCostmapFrame Replace transformPlanPosesToCostmapFrame and getGlobalPlanConsideringBounds by getGlobalPlanConsideringBoundsInCostmapFrame * use stamp from robot pose for transform * style * fix test * lint test --------- Co-authored-by: Guillaume Doisy <[email protected]> --------- Co-authored-by: ruffsl <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]>
EnjoyRobotics · Mar 1, 2023 · 8d4f6f4 · 8d4f6f4
1 parent 8dea742
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Showing 72 changed files with 9,141 additions and 4 deletions.
diff --git a/.circleci/config.yml b/.circleci/config.yml
@@ -33,12 +33,12 @@ _commands:
         - restore_cache:
             name: Restore Cache << parameters.key >>
             keys:
-              - "<< parameters.key >>-v12\
+              - "<< parameters.key >>-v13\
                 -{{ arch }}\
                 -{{ .Branch }}\
                 -{{ .Environment.CIRCLE_PR_NUMBER }}\
                 -{{ checksum  \"<< parameters.workspace >>/lockfile.txt\" }}"
-              - "<< parameters.key >>-v12\
+              - "<< parameters.key >>-v13\
                 -{{ arch }}\
                 -main\
                 -<no value>\
@@ -58,7 +58,7 @@ _commands:
       steps:
         - save_cache:
             name: Save Cache << parameters.key >>
-            key: "<< parameters.key >>-v12\
+            key: "<< parameters.key >>-v13\
               -{{ arch }}\
               -{{ .Branch }}\
               -{{ .Environment.CIRCLE_PR_NUMBER }}\
@@ -453,6 +453,7 @@ executors:
   release_exec:
     docker:
       - image: ghcr.io/ros-planning/navigation2:main
+    resource_class: large
     working_directory: /opt/overlay_ws
     environment:
       <<: *common_environment

diff --git a/.circleci/defaults.yaml b/.circleci/defaults.yaml
@@ -6,7 +6,7 @@ _common: &common
 "build":
   <<: *common
   "executor": "parallel"
-  "parallel-workers": 2
+  "parallel-workers": 4
   "symlink-install": true
 "test":
   <<: *common

diff --git a/codecov.yml b/codecov.yml
@@ -7,3 +7,7 @@ ignore:
   - "*/test/**/*" # ignore package  test directories, e.g. nav2_costmap_2d/tests
   - "**/test_*.*" # ignore files starting with test_ e.g.  nav2_map_server/test/test_constants.cpp
   - "**/*_tests.*" # ignore files ending with _tests e.g. nav2_voxel_grid/test/voxel_grid_tests.cpp
+  - "*/**/benchmark/*"  # ignore package test directories, e.g. nav2_dwb_controller/costmap_queue/tests
+  - "*/benchmark/**/*" # ignore package  test directories, e.g. nav2_costmap_2d/tests
+  - "**/benchmark_*.*" # ignore files starting with test_ e.g.  nav2_map_server/test/test_constants.cpp
+  - "**/*_benchmark.*" # ignore files ending with _tests e.g. nav2_voxel_grid/test/voxel_grid_tests.cpp
diff --git a/nav2_mppi_controller/CMakeLists.txt b/nav2_mppi_controller/CMakeLists.txt
@@ -0,0 +1,93 @@
+cmake_minimum_required(VERSION 3.5)
+project(nav2_mppi_controller)
+
+add_definitions(-DXTENSOR_ENABLE_XSIMD)
+add_definitions(-DXTENSOR_USE_XSIMD)
+
+set(XTENSOR_USE_TBB 0)
+set(XTENSOR_USE_OPENMP 0)
+
+
+find_package(ament_cmake REQUIRED)
+find_package(xtensor REQUIRED)
+
+set(dependencies_pkgs
+  rclcpp
+  nav2_common
+  pluginlib
+  tf2
+  geometry_msgs
+  visualization_msgs
+  nav_msgs
+  nav2_core
+  nav2_costmap_2d
+  nav2_util
+  tf2_geometry_msgs
+  tf2_eigen
+  tf2_ros
+)
+
+foreach(pkg IN LISTS dependencies_pkgs)
+  find_package(${pkg} REQUIRED)
+endforeach()
+
+nav2_package()
+add_compile_options(-O3 -mavx2 -mfma -finline-limit=1000000 -ffp-contract=fast -ffast-math)
+
+add_library(mppi_controller SHARED
+  src/controller.cpp
+  src/optimizer.cpp
+  src/critic_manager.cpp
+  src/trajectory_visualizer.cpp
+  src/path_handler.cpp
+  src/parameters_handler.cpp
+  src/noise_generator.cpp
+)
+
+add_library(mppi_critics SHARED
+  src/critics/obstacles_critic.cpp
+  src/critics/goal_critic.cpp
+  src/critics/goal_angle_critic.cpp
+  src/critics/path_align_critic.cpp
+  src/critics/path_follow_critic.cpp
+  src/critics/path_angle_critic.cpp
+  src/critics/prefer_forward_critic.cpp
+  src/critics/twirling_critic.cpp
+  src/critics/constraint_critic.cpp
+)
+
+set(libraries mppi_controller mppi_critics)
+
+foreach(lib IN LISTS libraries)
+  target_compile_options(${lib} PUBLIC -fconcepts)
+  target_include_directories(${lib} PUBLIC include ${xsimd_INCLUDE_DIRS} ${OpenMP_INCLUDE_DIRS})
+  target_link_libraries(${lib} xtensor xtensor::optimize xtensor::use_xsimd)
+  ament_target_dependencies(${lib} ${dependencies_pkgs})
+endforeach()
+
+install(TARGETS mppi_controller mppi_critics
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(DIRECTORY include/
+  DESTINATION include/
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  find_package(ament_cmake_gtest REQUIRED)
+  set(ament_cmake_copyright_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+  add_subdirectory(test)
+  # add_subdirectory(benchmark)
+endif()
+
+ament_export_libraries(${libraries})
+ament_export_dependencies(${dependencies_pkgs})
+ament_export_include_directories(include)
+pluginlib_export_plugin_description_file(nav2_core mppic.xml)
+pluginlib_export_plugin_description_file(nav2_mppi_controller critics.xml)
+
+ament_package()
diff --git a/nav2_mppi_controller/LICENSE.md b/nav2_mppi_controller/LICENSE.md
@@ -0,0 +1,22 @@
+MIT License
+
+Copyright (c) 2021-2022 Fast Sense Studio
+Copyright (c) 2022-2023 Samsung Research America
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.