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ardabbour / nav2_ompl_planner

OMPL Planner for Nav2
MIT License
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Minimal current valid parameters #1

Open fmrico opened 4 years ago

fmrico commented 4 years ago

Hi @ardabbour

I am following the discussion at https://github.com/ros-planning/navigation2/issues/1646 and I want to test the current state of OMPL. I would like to use it in some experiments.

I know that this is a work in process, but I would like to know the parameters that you consider functional enough. With default parameters values, I get this error, and no path is generated:

[planner_server-9] Warning: Assuming propagation will always have between 1 and 10 steps
[planner_server-9]          at line 77 in /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/control/src/SpaceInformation.cpp
[planner_server-9] Warning: The propagation step size is assumed to be 0.286176
[planner_server-9]          at line 87 in /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/control/src/SpaceInformation.cpp
[planner_server-9] Info:    No planner specified. Using default.
[planner_server-9] Info:    KPIECE1: Attempting to use default projection.
[planner_server-9] Info:    KPIECE1: Starting planning with 1 states already in datastructure
[planner_server-9] Debug:   KPIECE1: Numerical precision limit reached. Resetting costs.
[planner_server-9] Debug:   KPIECE1: Numerical precision limit reached. Resetting costs.
[planner_server-9] Debug:   KPIECE1: Numerical precision limit reached. Resetting costs.
[planner_server-9] Debug:   KPIECE1: Numerical precision limit reached. Resetting costs.
[planner_server-9] Debug:   KPIECE1: Numerical precision limit reached. Resetting costs.

[and never stops this last message]

Thanks!! Francisco

ardabbour commented 4 years ago

The debug messages are quite cryptic but they aren't errors; if a cell's score hits std::numeric_limits<double>::epsilon(), it generates this message. Can I get the map where no path is generated? I only tested it on the default nav2 tutorial map and the Willow Garage map.

The Willow Garage map times out on the default 30 seconds (!!!!) when searching in the control space. I don't know which implementation you are using, but I advise using the geomteric branch of this repo; those parameters are the most stable so far.

fmrico commented 4 years ago

We are using the map of Marathon2, so it is quite large.

So, the goal of the development is optimizing to make it works at a reasonable time (to run at 1Hz)? Do you think it is feasible?

ardabbour commented 4 years ago

It should be feasible using the SE2 geometric space; where can I find this map to test it?

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