Add acceleration limits to DriveOnHeading and BackUp behaviors (#4810)

* Add acceleration constraints Signed-off-by: RBT22 <[email protected]> * Cleanup code Signed-off-by: RBT22 <[email protected]> * Format code Signed-off-by: RBT22 <[email protected]> * Add <limits> header to drive_on_heading.hpp Signed-off-by: RBT22 <[email protected]> * Remove vel pointer Signed-off-by: RBT22 <[email protected]> * Use the limits only if both of them is set Signed-off-by: RBT22 <[email protected]> * Fix onActionCompletion params Signed-off-by: RBT22 <[email protected]> * Add default acc params and change decel sign Signed-off-by: RBT22 <[email protected]> * Add minimum speed parameter Signed-off-by: RBT22 <[email protected]> * Update minimum speed parameter to 0.10 Signed-off-by: RBT22 <[email protected]> * Log warning when acceleration or deceleration limits are not set Signed-off-by: RBT22 <[email protected]> * Add param sign assert Signed-off-by: RBT22 <[email protected]> * Remove unnecessary param checking Signed-off-by: RBT22 <[email protected]> * Refactor acceleration limits to handle forward and backward movement separately Signed-off-by: RBT22 <[email protected]> * Fix sign checking condition Signed-off-by: RBT22 <[email protected]> * Replace throwing with silent sign correction Signed-off-by: RBT22 <[email protected]> --------- Signed-off-by: RBT22 <[email protected]> (cherry picked from commit 2ee3cef)
ros-navigation · Jan 28, 2025 · 72ed627 · 72ed627
1 parent 9a5689e
commit 72ed627
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diff --git a/nav2_behaviors/include/nav2_behaviors/plugins/drive_on_heading.hpp b/nav2_behaviors/include/nav2_behaviors/plugins/drive_on_heading.hpp
@@ -19,6 +19,7 @@
 #include <chrono>
 #include <memory>
 #include <utility>
+#include <limits>
 
 #include "nav2_behaviors/timed_behavior.hpp"
 #include "nav2_msgs/action/drive_on_heading.hpp"
@@ -131,7 +132,30 @@ class DriveOnHeading : public TimedBehavior<ActionT>
     cmd_vel->header.frame_id = this->robot_base_frame_;
     cmd_vel->twist.linear.y = 0.0;
     cmd_vel->twist.angular.z = 0.0;
-    cmd_vel->twist.linear.x = command_speed_;
+
+    double current_speed = last_vel_ == std::numeric_limits<double>::max() ? 0.0 : last_vel_;
+    bool forward = command_speed_ > 0.0;
+    double min_feasible_speed, max_feasible_speed;
+    if (forward) {
+      min_feasible_speed = current_speed + deceleration_limit_ / this->cycle_frequency_;
+      max_feasible_speed = current_speed + acceleration_limit_ / this->cycle_frequency_;
+    } else {
+      min_feasible_speed = current_speed - acceleration_limit_ / this->cycle_frequency_;
+      max_feasible_speed = current_speed - deceleration_limit_ / this->cycle_frequency_;
+    }
+    cmd_vel->twist.linear.x = std::clamp(command_speed_, min_feasible_speed, max_feasible_speed);
+
+    // Check if we need to slow down to avoid overshooting
+    auto remaining_distance = std::fabs(command_x_) - distance;
+    double max_vel_to_stop = std::sqrt(-2.0 * deceleration_limit_ * remaining_distance);
+    if (max_vel_to_stop < std::abs(cmd_vel->twist.linear.x)) {
+      cmd_vel->twist.linear.x = forward ? max_vel_to_stop : -max_vel_to_stop;
+    }
+
+    // Ensure we don't go below minimum speed
+    if (std::fabs(cmd_vel->twist.linear.x) < minimum_speed_) {
+      cmd_vel->twist.linear.x = forward ? minimum_speed_ : -minimum_speed_;
+    }
 
     geometry_msgs::msg::Pose2D pose2d;
     pose2d.x = current_pose.pose.position.x;
@@ -144,6 +168,7 @@ class DriveOnHeading : public TimedBehavior<ActionT>
       return ResultStatus{Status::FAILED, ActionT::Result::COLLISION_AHEAD};
     }
 
+    last_vel_ = cmd_vel->twist.linear.x;
     this->vel_pub_->publish(std::move(cmd_vel));
 
     return ResultStatus{Status::RUNNING, ActionT::Result::NONE};
@@ -155,6 +180,14 @@ class DriveOnHeading : public TimedBehavior<ActionT>
    */
   CostmapInfoType getResourceInfo() override {return CostmapInfoType::LOCAL;}
 
+  void onCleanup() override {last_vel_ = std::numeric_limits<double>::max();}
+
+  void onActionCompletion(std::shared_ptr<typename ActionT::Result>/*result*/)
+  override
+  {
+    last_vel_ = std::numeric_limits<double>::max();
+  }
+
 protected:
   /**
    * @brief Check if pose is collision free
@@ -208,6 +241,26 @@ class DriveOnHeading : public TimedBehavior<ActionT>
       node,
       "simulate_ahead_time", rclcpp::ParameterValue(2.0));
     node->get_parameter("simulate_ahead_time", simulate_ahead_time_);
+
+    nav2_util::declare_parameter_if_not_declared(
+      node, this->behavior_name_ + ".acceleration_limit",
+      rclcpp::ParameterValue(2.5));
+    nav2_util::declare_parameter_if_not_declared(
+      node, this->behavior_name_ + ".deceleration_limit",
+      rclcpp::ParameterValue(-2.5));
+    nav2_util::declare_parameter_if_not_declared(
+      node, this->behavior_name_ + ".minimum_speed",
+      rclcpp::ParameterValue(0.10));
+    node->get_parameter(this->behavior_name_ + ".acceleration_limit", acceleration_limit_);
+    node->get_parameter(this->behavior_name_ + ".deceleration_limit", deceleration_limit_);
+    node->get_parameter(this->behavior_name_ + ".minimum_speed", minimum_speed_);
+    if (acceleration_limit_ <= 0.0 || deceleration_limit_ >= 0.0) {
+      RCLCPP_ERROR(this->logger_,
+        "DriveOnHeading: acceleration_limit and deceleration_limit must be "
+        "positive and negative respectively");
+      acceleration_limit_ = std::abs(acceleration_limit_);
+      deceleration_limit_ = -std::abs(deceleration_limit_);
+    }
   }
 
   typename ActionT::Feedback::SharedPtr feedback_;
@@ -218,6 +271,10 @@ class DriveOnHeading : public TimedBehavior<ActionT>
   rclcpp::Duration command_time_allowance_{0, 0};
   rclcpp::Time end_time_;
   double simulate_ahead_time_;
+  double acceleration_limit_;
+  double deceleration_limit_;
+  double minimum_speed_;
+  double last_vel_ = std::numeric_limits<double>::max();
 };
 
 }  // namespace nav2_behaviors

diff --git a/nav2_bringup/params/nav2_params.yaml b/nav2_bringup/params/nav2_params.yaml
@@ -305,8 +305,14 @@ behavior_server:
       plugin: "nav2_behaviors::Spin"
     backup:
       plugin: "nav2_behaviors::BackUp"
+      acceleration_limit: 2.5
+      deceleration_limit: -2.5
+      minimum_speed: 0.10
     drive_on_heading:
       plugin: "nav2_behaviors::DriveOnHeading"
+      acceleration_limit: 2.5
+      deceleration_limit: -2.5
+      minimum_speed: 0.10
     wait:
       plugin: "nav2_behaviors::Wait"
     assisted_teleop: