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nobleo / full_coverage_path_planner

Full coverage path planning provides a move_base_flex plugin that can plan a path that will fully cover a given area
Apache License 2.0
547 stars 156 forks source link

Global path keeps being replanned #38

Closed joao-pm-santos96 closed 1 year ago

joao-pm-santos96 commented 2 years ago

Hi! First of all, congrats for this amazing planner.

My issue is the following: I am using this global planner with the "standard" DWA local planner with a MIR100 robot. The issue is that the global path keeps being replanned, which changes it and consequently "confuses" the local planner... Is there a way to stop the replanning? The issue, I think, is because the following line return false:

https://github.com/ros-planning/navigation/blob/4a3d261daa4e7eafa40bf7e4505f8aa8678d7bd7/dwa_local_planner/src/dwa_planner_ros.cpp#L279

Here is the output:

[ INFO] [1657043163.062917580] [/amcl]: Subscribed to map topic.
[ INFO] [1657043165.413494720, 0.278000000] [/amcl]: Received a 4000 X 4000 map @ 0.050 m/pix

[ INFO] [1657043166.021912054, 0.633000000] [/amcl]: Initializing likelihood field model; this can take some time on large maps...
[ INFO] [1657043166.453470730, 0.892000000] [/amcl]: Done initializing likelihood field model.
[ INFO] [1657043166.512034315, 0.932000000] [/move_base]: global_costmap: Using plugin "navigation_map"
[ INFO] [1657043166.537103211, 0.947000000] [/move_base]: Requesting the map...
[ INFO] [1657043166.826634421, 1.156000000] [/move_base]: Resizing costmap to 4000 X 4000 at 0.050000 m/pix
[ INFO] [1657043166.970490782, 1.268000000] [/move_base]: Received a 4000 X 4000 map at 0.050000 m/pix
[ INFO] [1657043166.977393031, 1.270000000] [/move_base]: global_costmap: Using plugin "obstacles"
[ INFO] [1657043167.023639203, 1.302000000] [/move_base]:     Subscribed to Topics: b_scan_marking b_scan_clearing f_scan_marking f_scan_clearing
[ INFO] [1657043167.255988941, 1.463000000] [/move_base]: global_costmap: Using plugin "inflation"
[ INFO] [1657043167.394213208, 1.560000000] [/move_base]: local_costmap: Using plugin "obstacles"
[ INFO] [1657043167.413624447, 1.568000000] [/move_base]:     Subscribed to Topics: b_scan_marking b_scan_clearing f_scan_marking f_scan_clearing
[ INFO] [1657043167.649547324, 1.724000000] [/move_base]: local_costmap: Using plugin "inflation"
[ INFO] [1657043167.736964917, 1.786000000] [/move_base]: Created local_planner dwa_local_planner/DWAPlannerROS
[ INFO] [1657043167.742482121, 1.790000000] [/move_base]: Sim period is set to 0.20
[ INFO] [1657043167.963765882, 1.977000000] [/move_base]: Recovery behavior will clear layer 'obstacles'
[ INFO] [1657043167.966332732, 1.979000000] [/move_base]: Recovery behavior will clear layer 'obstacles'
[ INFO] [1657043168.124892045, 2.095000000] [/move_base]: odom received!
[ INFO] [1657043184.366663390, 15.845000000] [/move_base]: Initialized!
[ INFO] [1657043184.366766129, 15.845000000] [/move_base]: Requesting grid!!
[ INFO] [1657043184.450873336, 15.901000000] [/move_base]: nRows: 4000 nCols: 4000 nodeSize: 36
[ INFO] [1657043185.137440231, 16.424000000] [/move_base]: naive cpp completed!
[ INFO] [1657043185.137805926, 16.425000000] [/move_base]: Converting path to plan
[ INFO] [1657043185.137925356, 16.425000000] [/move_base]: Received goalpoints with length: 47
[ INFO] [1657043185.138235457, 16.425000000] [/move_base]: Plan ready containing 42 goals!
[ INFO] [1657043185.138301807, 16.425000000] [/move_base]: Total visited: 43
[ INFO] [1657043185.138355446, 16.425000000] [/move_base]: Total re-visited: 8
[ INFO] [1657043185.138405593, 16.425000000] [/move_base]: Total accessible cells: 35
[ INFO] [1657043185.138488007, 16.425000000] [/move_base]: Total accessible area: 113.399994
[ INFO] [1657043185.138555335, 16.425000000] [/move_base]: Publishing plan!
[ INFO] [1657043185.139086697, 16.425000000] [/move_base]: Plan published!
elapsed time: 0.697469
[ INFO] [1657043185.164349688, 16.447000000] [/move_base]: Got new plan
[ WARN] [1657043187.802014937, 18.645000000] [/move_base]: Received an empty transformed plan.
[ INFO] [1657043187.803280971, 18.645000000] [/move_base]: Initialized!
[ INFO] [1657043187.803366249, 18.645000000] [/move_base]: Requesting grid!!
[ INFO] [1657043187.867208951, 18.685000000] [/move_base]: nRows: 4000 nCols: 4000 nodeSize: 36
[ INFO] [1657043188.544726092, 19.195000000] [/move_base]: naive cpp completed!
[ INFO] [1657043188.544895948, 19.196000000] [/move_base]: Converting path to plan
[ INFO] [1657043188.544929822, 19.196000000] [/move_base]: Received goalpoints with length: 44
[ INFO] [1657043188.545019570, 19.196000000] [/move_base]: Plan ready containing 40 goals!
[ INFO] [1657043188.545055748, 19.196000000] [/move_base]: Total visited: 41
[ INFO] [1657043188.545085152, 19.196000000] [/move_base]: Total re-visited: 6
[ INFO] [1657043188.545117628, 19.196000000] [/move_base]: Total accessible cells: 35
[ INFO] [1657043188.545153318, 19.196000000] [/move_base]: Total accessible area: 113.399994
[ INFO] [1657043188.545182931, 19.196000000] [/move_base]: Publishing plan!
[ INFO] [1657043188.545269745, 19.196000000] [/move_base]: Plan published!
elapsed time: 0.666397
[ INFO] [1657043188.603718655, 19.245000000] [/move_base]: Got new plan
[ WARN] [1657043192.104521582, 22.245000000] [/move_base]: Received an empty transformed plan.
[ INFO] [1657043192.104630676, 22.245000000] [/move_base]: Initialized!
[ INFO] [1657043192.104680962, 22.245000000] [/move_base]: Requesting grid!!
[ INFO] [1657043192.169518990, 22.287000000] [/move_base]: nRows: 4000 nCols: 4000 nodeSize: 36
[ INFO] [1657043192.815869998, 22.780000000] [/move_base]: naive cpp completed!
[ INFO] [1657043192.816085323, 22.780000000] [/move_base]: Converting path to plan
[ INFO] [1657043192.816124225, 22.780000000] [/move_base]: Received goalpoints with length: 47
[ INFO] [1657043192.816200912, 22.780000000] [/move_base]: Plan ready containing 46 goals!
[ INFO] [1657043192.816229059, 22.780000000] [/move_base]: Total visited: 43
[ INFO] [1657043192.816250849, 22.780000000] [/move_base]: Total re-visited: 8
[ INFO] [1657043192.816272361, 22.780000000] [/move_base]: Total accessible cells: 35
[ INFO] [1657043192.816297644, 22.780000000] [/move_base]: Total accessible area: 113.399994
[ INFO] [1657043192.816319155, 22.780000000] [/move_base]: Publishing plan!
[ INFO] [1657043192.816392839, 22.780000000] [/move_base]: Plan published!
elapsed time: 0.675305
[ INFO] [1657043192.923045960, 22.845000000] [/move_base]: Got new plan
[ WARN] [1657043196.958320193, 26.245000000] [/move_base]: Received an empty transformed plan.
[ INFO] [1657043196.958557028, 26.245000000] [/move_base]: Initialized!
[ INFO] [1657043196.958614648, 26.245000000] [/move_base]: Requesting grid!!
[ INFO] [1657043197.020202699, 26.274000000] [/move_base]: nRows: 4000 nCols: 4000 nodeSize: 36
[ INFO] [1657043197.627075346, 26.711000000] [/move_base]: naive cpp completed!
[ INFO] [1657043197.627278797, 26.711000000] [/move_base]: Converting path to plan
[ INFO] [1657043197.627318887, 26.711000000] [/move_base]: Received goalpoints with length: 44
[ INFO] [1657043197.627389637, 26.711000000] [/move_base]: Plan ready containing 44 goals!
[ INFO] [1657043197.627651407, 26.711000000] [/move_base]: Total visited: 41
[ INFO] [1657043197.627689960, 26.711000000] [/move_base]: Total re-visited: 6
[ INFO] [1657043197.627719573, 26.711000000] [/move_base]: Total accessible cells: 35
[ INFO] [1657043197.627753935, 26.711000000] [/move_base]: Total accessible area: 113.399994
[ INFO] [1657043197.627787320, 26.711000000] [/move_base]: Publishing plan!
[ INFO] [1657043197.628015705, 26.711000000] [/move_base]: Plan published!
elapsed time: 0.648956
[ INFO] [1657043197.793463950, 26.845000000] [/move_base]: Got new plan
superliam471 commented 1 year ago

I encountered the same issue too: image DWA didn't work . Do you solve it? Can you help me, thanks a lot