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Fix lattice backward 180 deg issue #5141

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Merged
SteveMacenski merged 1 commit into from
May 10, 2025
Merged

Fix lattice backward 180 deg issue #5141

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37 changes: 19 additions & 18 deletions nav2_smac_planner/src/node_lattice.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -499,7 +499,6 @@
NodeVector & neighbors)
{
uint64_t index = 0;
float angle;
bool backwards = false;
NodePtr neighbor = nullptr;
Coordinates initial_node_coords, motion_projection;
Expand All @@ -515,6 +514,24 @@
motion_projection.y = this->pose.y + (end_pose._y / grid_resolution);
motion_projection.theta = motion_primitives[i]->end_angle /*this is the ending angular bin*/;

// if i >= idx, then we're in a reversing primitive. In that situation,
// the orientation of the robot is mirrored from what it would otherwise
// appear to be from the motion primitives file. We want to take this into
// account in case the robot base footprint is asymmetric.
backwards = false;
if (i >= direction_change_index) {
backwards = true;
float opposite_heading_theta =
motion_projection.theta - (motion_table.num_angle_quantization / 2);
if (opposite_heading_theta < 0) {
opposite_heading_theta += motion_table.num_angle_quantization;
}
if (opposite_heading_theta > motion_table.num_angle_quantization) {
opposite_heading_theta -= motion_table.num_angle_quantization;

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}
motion_projection.theta = opposite_heading_theta;
}

index = NodeLattice::getIndex(
static_cast<unsigned int>(motion_projection.x),
static_cast<unsigned int>(motion_projection.y),
Expand All @@ -524,28 +541,12 @@
// Cache the initial pose in case it was visited but valid
// don't want to disrupt continuous coordinate expansion
initial_node_coords = neighbor->pose;
// if i >= idx, then we're in a reversing primitive. In that situation,
// the orientation of the robot is mirrored from what it would otherwise
// appear to be from the motion primitives file. We want to take this into
// account in case the robot base footprint is asymmetric.
backwards = false;
angle = motion_projection.theta;
if (i >= direction_change_index) {
backwards = true;
angle = motion_projection.theta - (motion_table.num_angle_quantization / 2);
if (angle < 0) {
angle += motion_table.num_angle_quantization;
}
if (angle > motion_table.num_angle_quantization) {
angle -= motion_table.num_angle_quantization;
}
}

neighbor->setPose(
Coordinates(
motion_projection.x,
motion_projection.y,
angle));
motion_projection.theta));

// Using a special isNodeValid API here, giving the motion primitive to use to
// validity check the transition of the current node to the new node over
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