Feature/test astar planner #1753

sgermanserrano · 2018-11-30T15:16:17Z

Status

DEVELOPMENT

Description

Added initial set of tests for astar_util

Related PRs

#1594

…anserrano/Autoware into feature/test_astar_planner

sgermanserrano · 2018-11-30T15:19:53Z

@aohsato can you have a look at the calcDiffOfRadian function inside astar_util.h? I have added a basic test to check the function which is failing at the moment. Can you confirm what you expected the function should output for the 3 conditions in the test?

Diff < 180 degrees
180 degrees < Diff < 360 degrees
Diff > 360 degrees

HEGALLIS · 2018-12-11T14:35:18Z

Is this going to be merged for 1.10?

sgermanserrano · 2019-01-03T11:16:19Z

@aohsato @kfunaoka can you review this PR? I have added some initial tests for A* algorithm, it would be worth adding some more to verify full working order of the algorithm.
Also, as discussed in Slack the nav_msgs::OccupancyGrid variable type should be replaced by GridMap

aohsato

@sgermanserrano Thanks and sorry for my late. About calcDiffOfRadian, I fixed that with fmod in this commit.
1bb1fc7
But actually, it's more simple to handle angle diff between -pi~pi by using atan2(sin(t),cos(t)) technique, so I'll fix that in my next chance. Thanks.

* Delete obstacle_sim from astar_planner package, replaced to lidar_fake_perception * Modify package name, astar_planner -> waypoint_planner, and create astar_planner library package * Delete obstacle_avoid/astar* and modify its dependency to astar_planner library * Fix astar_navi with astar_planner library * Refactor astar_navi by separating HAstar library and fixing coodinate system * Rename obstacle_avoid -> astar_avoid and under refactoring * Fix cost function and configures * Fix backward search and refactor configurations * Apply clang-format * Refactor include * Fix typo and so on * Improve astar_avoid by incremental goal search * Apply clang-format * Revert package names * Fix package/code names * Update runtime_manager * Improve astar_avoid to execute avoidance behavior by state transition (by rebuild decision maker) * Fix PascalCase message names by #1408 * Remove obstacle_avoid directory * Fix default parameter for costmap topic * Fix warning and initialize condition * Remove use_avoidance_state mode (TODO: after merging rebuild decision maker) * Improve astar_avoid behavior by simple state transition and multi-threading * Apply clang-format * Fix replan_interval in astar_avoid * Add descriptions for paramters * Rename pkg name, astar_planner -> waypoint_planner * Fix param name * Fix avoid waypoints height * Fix parameter and formalize code * Add README for freespace/waypoint_planner * Add License terms Co-Authored-By: aohsato <aohsato@gmail.com> Add License terms Co-Authored-By: aohsato <aohsato@gmail.com> Add License terms Co-Authored-By: aohsato <aohsato@gmail.com> Add License terms Co-Authored-By: aohsato <aohsato@gmail.com> Add License terms Co-Authored-By: aohsato <aohsato@gmail.com> Fix CHANGELOG Co-Authored-By: aohsato <aohsato@gmail.com> Add License terms Co-Authored-By: aohsato <aohsato@gmail.com> Add License terms Co-Authored-By: aohsato <aohsato@gmail.com> * Fix astar_navi/README.md * Add License terms * Fix const pointer * Added unit test base * Restructured folders * Fix bug by adding AstarSearch reset * Fix WaveFrontNode initialization Co-Authored-By: aohsato <aohsato@gmail.com> * Fix variable name * Refactor threading * Re-adding lidar_fake_perception * Fix the condition to judge reaching goal * Add 'use_decision state' mode to transit avoidance state by decision_maker * Fix calcDiffOfRadian (if diff > 2pi) * Feature/test astar planner (#1753) * Restructured folders * Added unit test base * Removed remaining folder * Test WIP * Added astar_util tests and base file for astar_search tests * Updated to ROS Cpp Style guidelines * Added test for SimpleNode constructor * Updated Copyright date * Added tests for astar algorithm * Added default constructor to WaveFront struct * Revert use_state_decision mode (94af7b6) * Fix costmap topic names by merging costmap_generator

lanhaigit · 2020-03-11T10:12:31Z

@aohsato hi , i want to ask you one question ,why the hybrid a* cann't work well ,
after checking the code ,it seems like some issues in the code , so could you have solution now?
thank you very much.

sgermanserrano · 2020-03-11T10:15:21Z

@lanhaigit please ask your questions on ROS Answers

* Delete obstacle_sim from astar_planner package, replaced to lidar_fake_perception * Modify package name, astar_planner -> waypoint_planner, and create astar_planner library package * Delete obstacle_avoid/astar* and modify its dependency to astar_planner library * Fix astar_navi with astar_planner library * Refactor astar_navi by separating HAstar library and fixing coodinate system * Rename obstacle_avoid -> astar_avoid and under refactoring * Fix cost function and configures * Fix backward search and refactor configurations * Apply clang-format * Refactor include * Fix typo and so on * Improve astar_avoid by incremental goal search * Apply clang-format * Revert package names * Fix package/code names * Update runtime_manager * Improve astar_avoid to execute avoidance behavior by state transition (by rebuild decision maker) * Fix PascalCase message names by autowarefoundation#1408 * Remove obstacle_avoid directory * Fix default parameter for costmap topic * Fix warning and initialize condition * Remove use_avoidance_state mode (TODO: after merging rebuild decision maker) * Improve astar_avoid behavior by simple state transition and multi-threading * Apply clang-format * Fix replan_interval in astar_avoid * Add descriptions for paramters * Rename pkg name, astar_planner -> waypoint_planner * Fix param name * Fix avoid waypoints height * Fix parameter and formalize code * Add README for freespace/waypoint_planner * Add License terms Co-Authored-By: aohsato <aohsato@gmail.com> Add License terms Co-Authored-By: aohsato <aohsato@gmail.com> Add License terms Co-Authored-By: aohsato <aohsato@gmail.com> Add License terms Co-Authored-By: aohsato <aohsato@gmail.com> Add License terms Co-Authored-By: aohsato <aohsato@gmail.com> Fix CHANGELOG Co-Authored-By: aohsato <aohsato@gmail.com> Add License terms Co-Authored-By: aohsato <aohsato@gmail.com> Add License terms Co-Authored-By: aohsato <aohsato@gmail.com> * Fix astar_navi/README.md * Add License terms * Fix const pointer * Added unit test base * Restructured folders * Fix bug by adding AstarSearch reset * Fix WaveFrontNode initialization Co-Authored-By: aohsato <aohsato@gmail.com> * Fix variable name * Refactor threading * Re-adding lidar_fake_perception * Fix the condition to judge reaching goal * Add 'use_decision state' mode to transit avoidance state by decision_maker * Fix calcDiffOfRadian (if diff > 2pi) * Feature/test astar planner (autowarefoundation#1753) * Restructured folders * Added unit test base * Removed remaining folder * Test WIP * Added astar_util tests and base file for astar_search tests * Updated to ROS Cpp Style guidelines * Added test for SimpleNode constructor * Updated Copyright date * Added tests for astar algorithm * Added default constructor to WaveFront struct * Revert use_state_decision mode (94af7b6) * Fix costmap topic names by merging costmap_generator

sgermanserrano and others added 6 commits November 27, 2018 12:53

Restructured folders

e967db0

Added unit test base

9ea55a4

Merge branch 'feature/test_astar_planner' of https://github.com/sgerm…

a80ad54

…anserrano/Autoware into feature/test_astar_planner

Removed remaining folder

b50360e

Test WIP

07a95e9

Added astar_util tests and base file for astar_search tests

b8cc877

sgermanserrano requested a review from aohsato November 30, 2018 15:16

aohsato mentioned this pull request Dec 3, 2018

[Feature] Improve Hybrid A* planner #1594

Merged

6 tasks

Servando German added 3 commits December 4, 2018 16:51

Updated to ROS Cpp Style guidelines

2445088

Added test for SimpleNode constructor

f2e9b16

Updated Copyright date

2ddbaa5

sgermanserrano assigned aohsato Dec 11, 2018

Servando German added 2 commits January 2, 2019 19:43

Added tests for astar algorithm

31d12e9

Added default constructor to WaveFront struct

f063618

sgermanserrano requested a review from kfunaoka January 3, 2019 11:14

sgermanserrano mentioned this pull request Mar 14, 2023

Release 1.10 autowarefoundation/autoware_ai#399

Closed

sgermanserrano mentioned this pull request Mar 14, 2023

Release 1.11 autowarefoundation/autoware_ai#476

Closed

17 tasks

aohsato approved these changes Mar 13, 2019

View reviewed changes

aohsato merged commit ebf7de6 into autowarefoundation:feature/test_astar_planner Mar 13, 2019

sgermanserrano deleted the feature/test_astar_planner branch March 20, 2019 14:15

gbiggs unassigned aohsato Mar 25, 2019

mitsudome-r added the version:autoware-ai Autoware.AI label Jun 14, 2022

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Feature/test astar planner #1753

Feature/test astar planner #1753

sgermanserrano commented Nov 30, 2018

sgermanserrano commented Nov 30, 2018

HEGALLIS commented Dec 11, 2018

sgermanserrano commented Jan 3, 2019 •

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lanhaigit commented Mar 11, 2020

sgermanserrano commented Mar 11, 2020

Feature/test astar planner #1753

Feature/test astar planner #1753

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sgermanserrano commented Nov 30, 2018

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sgermanserrano commented Nov 30, 2018

HEGALLIS commented Dec 11, 2018

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lanhaigit commented Mar 11, 2020

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