rayvburn humap_local_planner issues

rayvburn / humap_local_planner

Human-aware robot trajectory planner using a hybrid trajectory candidates generation and spatiotemporal cost functions

BSD 3-Clause "New" or "Revised" License

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decouple prediction and planning

#126 rayvburn opened 8 months ago
0
consider recalculating `occdist_scale` dynamically to increase the clearance from obstacles when the robot is far from the goal

#125 rayvburn opened 10 months ago
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consider extending the `PathCrossingDetector` with the analysis of the global path plan

#124 rayvburn opened 10 months ago
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`HUMAP` local planner implementation

#123 rayvburn opened 10 months ago
0
Add a recovery behaviour once the global plan has not been updated for N planning periods

#122 rayvburn opened 11 months ago
1
prepare Turtlebot example

#121 rayvburn opened 11 months ago
0
fix `ros::TimeNotInitializedException` in unit tests

#120 rayvburn opened 1 year ago
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parameterize cost functions to evaluate the whole trajectory vs only the first step

#119 rayvburn closed 1 year ago
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consider copying objects of the sparse environment model to avoid using mutexes for the whole planning procedure

#118 rayvburn closed 1 year ago
3
unhandled case in `TrapezoidParted`

#117 rayvburn opened 1 year ago
0
investigate source of invalid `relative location` in Trapezoids

#116 rayvburn opened 1 year ago
2
try to improve a robot behaviour when entering narrow passages (e.g., doors)

#115 rayvburn opened 1 year ago
0
investigate memory corruption errors

#114 rayvburn closed 1 year ago
1
`CostParams` struct cleanup

#113 rayvburn opened 1 year ago
0
do not switch state from `Adjust` to `Init` when the goal is closer than double `xy_tolerance`

#112 rayvburn opened 1 year ago
2
consider assigning negative TTC cost to trajectories that will cause collision in the first prediction step

#111 rayvburn opened 1 year ago
0
consider adding `ObstacleSeparationCostFunction`

#110 rayvburn closed 1 year ago
3
Update default parameter values in the `Config` struct according to the `dynamic_reconfigure` setup

#109 rayvburn opened 1 year ago
0
consider adding `SlowMovementCostFunction`

#108 rayvburn closed 1 year ago
5
Goal pose gradually moved away by small distances does not get updated

#107 rayvburn closed 1 year ago
0
adjust `getPoseFromPlan` method of the planner

#106 rayvburn closed 1 year ago
1
cleanup in the `SocialForceModel` class

#105 rayvburn opened 1 year ago
0
rename the planner

#104 rayvburn closed 10 months ago
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add `computeTwist` for holonomic drives

#103 rayvburn opened 1 year ago
0
weight the `map_grid` cost functions near the goal pose

#102 rayvburn closed 1 year ago
2
consider adding recovery behaviour for being stuck when local goal was moved behind the robot

#101 rayvburn closed 1 year ago
0
delete exponent factor from Fuzz module

#100 rayvburn closed 1 year ago
2
consider re-coupling path-related cost functions

#99 rayvburn closed 1 year ago
1
get rid of the `ContextualizedCostFunction`

#98 rayvburn closed 1 year ago
1
switch to non-pointer containers of people and groups in `HuberoPlanner` to avoid excessive calls in cost functions

#97 rayvburn closed 1 year ago
0
add `computeVelocityGlobalHolonomic` for holonomic drives

#96 rayvburn closed 1 year ago
1
stick to the newer version of the XML in the `package.xml`

#95 rayvburn opened 1 year ago
0
fix errors in TTC visualisation

#94 rayvburn closed 1 year ago
1
perform trajectory prediction of dynamic objects in the planner, not in cost functions

#93 rayvburn closed 1 year ago
3
retune the planner using new human-aware cost functions

#92 rayvburn opened 1 year ago
2
add getters for obtaining values of cost functions for the best trajectory

#91 rayvburn opened 1 year ago
0
add human-awareness cost functions

#90 rayvburn closed 1 year ago
0
planner state stuck in `Init` when close perpendicular goal is selected

#89 rayvburn closed 1 year ago
1
investigate long computation times of social trajectory generation

#88 rayvburn closed 1 year ago
3
consider only N closest objects (static and dynamic)

#87 rayvburn closed 1 year ago
0
make sure that with a frequently updated goal pose the planner will not be stuck in the `Init` state

#86 rayvburn closed 1 year ago
1
maintain specific distance when passing humans

#85 rayvburn closed 1 year ago
1
maintain reduced speed when manoeuvring around humans

#84 rayvburn closed 1 year ago
1
use `Person` etc. definitions from `people_msgs_utils`

#83 rayvburn closed 1 year ago
0
extend `PlannerState` with a support to reach the goal in case of an overshoot in position

#82 rayvburn closed 1 year ago
1
extend `ContextualizedCostFunction` with `getCellCosts` to allow visualization

#81 rayvburn closed 1 year ago
1
move visualization-related publishers from `HuberoPlannerROS` to `Visualization` class

#80 rayvburn opened 2 years ago
0
unit test `computeVelocityLocal` from `transformations`

#79 rayvburn closed 1 year ago
1
consider moving free functions from `transformations` into `SocialTrajectoryGenerator` as static methods

#78 rayvburn opened 2 years ago
0
consider making `World` inherit from `base_local_planner::WorldModel`

#77 rayvburn opened 2 years ago
0