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Releases: softsys4ai/Reval

Reval v1.1

08 May 03:16
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New performance metrics including:

  • RCU: # of ClearCostMaps recovery executed for unstuck robot

  • RCL: # of ClearCostMaps layer recovery executed

  • IRC: # of invalid rotation cmd

  • ERG: # of error rotating on the goal
    DRMS: The square root of the average of the squared horizontal position errors, ; where standard deviation of the delta x and y, . Probability of 65%

  • 2DRMS: Twice the Distance Root Mean Squared (DRMS) of the horizontal position error, . Probability of 95%

  • CPE: The radius of circle centered at the true position, containing the position estimate with probability of 50%.

  • RNS: robustness in narrow spaces, ; where Ns is the total narrow spaces in the gazebo environment, and passed_Ns is the narrow spaces that the robot successfully crossed.

Features:

  • Added support for turn on/off gazebo and riviz visualization
  • Added support for defining number of data points to be collected
  • Added visualization of the results in terminal
  • Automated installation script

Bug fixes

  • Fixed the issue of spawning two husky in ROS Noetic
  • Fixed the bug of always mission success even if the husky did not reach the goal
  • Fixed random organization order bug in the Evaluation_results.csv
  • Other positional bug fixes in the Odometery subscriber
  • Inaccurate calculated distance bug fixed
  • Fixed other performance improvement related issues

Reval