[collision monitor] Select the observation sources used with each polygon #4227
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Signed-off-by: asarazin <anaelle.sarazin@robocc.com>
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@anaelle-sw, your PR has failed to build. Please check CI outputs and resolve issues. |
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I think we can do this more efficiently and straight forward
- Create the unordered map
- Adjust the current
for (std::shared_ptr<Source> source : sources_) {loop to contain (1) creating an entry for a source name key with an empty vector as the value. (2) Capture the return ofinsertwill give you an iterator to that pair in the map - Pass into
getDatathe reference to the value (vector) to populate. That eliminates an entire data copy. It also eliminates multiple calls togetDatato populate both the vector and map separately - Adjust the
processStopSlowdownLimit/processApproach/ etc functions to take in this map. The vector of points should no longer exist - Pass the map to the
isPointInside - When iterating through the sources, use the sources names to decide if you want to use that one or not
This eliminates any extra looping and a bunch of data copies (and not parallel populating a map and a vector of data). Speed here is really key and copying pointclouds and laserscans is a pretty worst-case situation
| @@ -405,7 +405,14 @@ void CollisionMonitor::process(const Velocity & cmd_vel_in, const std_msgs::msg: | |||
| } | |||
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| // Points array collected from different data sources in a robot base frame | |||
| std::vector<Point> collision_points; | |||
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This variable is no longer defined but appears to still be used. Does this compile / work?
| std::unordered_map<std::string, std::vector<Point>> sources_collision_points_map; | ||
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| // Fill collision_points array from different data sources | ||
| for (std::shared_ptr<Source> source : sources_) { |
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The source data population happens below, I don't think you should be adding a new duplicate but adjusting the old one, no?
If you create the map element, you can pass in the reference to that vector to getData() so that it populates the map in-line rather than copying it twice (once from the source, another to the map).
// Fill collision_points array from different data sources
for (std::shared_ptr<Source> source : sources_) {
if (source->getEnabled()) {
if (!source->getData(curr_time, collision_points) && // <-- Right here populate an element of the map rather than the vector (that is no longer defined)
source->getSourceTimeout().seconds() != 0.0)
{
action_polygon = nullptr;
robot_action.polygon_name = "invalid source";
robot_action.action_type = STOP;
robot_action.req_vel.x = 0.0;
robot_action.req_vel.y = 0.0;
robot_action.req_vel.tw = 0.0;
break;
}
}
}
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It seems like this for loop should be deleted and the block of code below needs to be adjusted
| @@ -468,6 +475,28 @@ void CollisionMonitor::process(const Velocity & cmd_vel_in, const std_msgs::msg: | |||
| // Update polygon coordinates | |||
| polygon->updatePolygon(cmd_vel_in); | |||
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| // Get collision points for sources associated to polygon | |||
| std::vector<std::string> sources_names = polygon->getSourcesNames(); | |||
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It seems to me to be more sensible to pass in a reference to the map of collision points to isPointsInside function for each of the polygons and let each of the polygons use its own internal getSourcesNames when iterating through the map to decide if it wants to use it or not.
In that case, this block of code would be removed and we just pass in the map of collision points rather than the vector of collision points to the processXYZ() functions
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This pull request is in conflict. Could you fix it @anaelle-sw? |
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@anaelle-sw looks like some small changes needed from merging your other PR 😄 Can we get this one in next? I do really appreciate your time and effort to contribute this work back to Nav2, it is very useful and thank you! |
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@anaelle-sw Hi! Any update here? |
Basic Info
Description of contribution in a few bullet points
New string vector parameter
<polygon_name>.sources_names. Only the sources which names are specified in parameter are used to check collision with current polygon. If the parameter is not set, all the observation sources are used.Description of documentation updates required from your changes
Add new parameter
<polygon_name>.sources_namesto default configs, documentation page, and migration guideFuture work that may be required in bullet points
For Maintainers: