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Do not skip waypoint if orientation is not aligned #398

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merged 2 commits into from
Dec 13, 2024
+27 −7
Merged

Do not skip waypoint if orientation is not aligned #398

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c3b0c37
Check for yaw alignment if skip rotation cmd set to False
xiyuoh Dec 9, 2024
51af669
Fix typo
xiyuoh Dec 9, 2024
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34 changes: 27 additions & 7 deletions rmf_fleet_adapter/src/rmf_fleet_adapter/agv/EasyFullControl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1055,9 +1055,21 @@ void EasyCommandHandle::follow_new_path(
for (std::size_t i = 0; i < waypoints.size(); ++i)
{
const auto& wp = waypoints[i];
if (wp.graph_index().has_value())
for (const auto& l : current_location)
{
for (const auto& l : current_location)
if (!nav_params->skip_rotation_commands)
{
// If the waypoint and robot orientations are not aligned with
// skip rotation command set to False, we will not consider this as
// a connection
if (std::abs(wp.position()[2] -
l.orientation())*180.0 / M_PI > 1e-2)
{
continue;
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}
}

if (wp.graph_index().has_value())
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{
if (nav_params->in_same_stack(*wp.graph_index(),
l.waypoint()) && !l.lane().has_value())
Expand All @@ -1073,7 +1085,7 @@ void EasyCommandHandle::follow_new_path(
{
const double dist =
(*l.location() - wp.position().block<2, 1>(0, 0)).norm();
if (dist <= nav_params->max_merge_lane_distance)
if (dist <= nav_params->max_merge_waypoint_distance)
{
found_connection = true;
i0 = 0;
Expand Down Expand Up @@ -1108,10 +1120,7 @@ void EasyCommandHandle::follow_new_path(
}
}
}
}
else
{
for (const auto& l : current_location)
else
{
Eigen::Vector2d p_l;
if (l.location().has_value())
Expand All @@ -1137,6 +1146,17 @@ void EasyCommandHandle::follow_new_path(
{
for (const auto& l : current_location)
{
if (!nav_params->skip_rotation_commands)
{
// If the waypoint and robot orientations are not aligned with
// skip rotation command set to False, we will not consider this as
// a connection
if (std::abs(wp.position()[2] -
l.orientation())*180.0 / M_PI > 1e-2)
{
continue;
}
}
if (l.lane().has_value())
{
if (lane == *l.lane())
Expand Down
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