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Merged
merged 3 commits into from
Apr 29, 2025
Merged

Feat/smac planner include orientation flexibility #4127

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6eb58a9
include functionality to allow multiple goal heading for smac planner
stevedanomodolor Apr 29, 2025
cf8d443
include missing parameter inclusion
stevedanomodolor Apr 29, 2025
47901ad
increase test coverage
stevedanomodolor Apr 29, 2025
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include missing parameter inclusion 
Signed-off-by: stevedanomodolor <stevedan.o.omodolor@gmail.com>
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@stevedanomodolor
stevedanomodolor committed Apr 29, 2025
commit cf8d44357018db8535c0c79e2f9a69fdb8c87892
17 changes: 17 additions & 0 deletions nav2_smac_planner/src/smac_planner_hybrid.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -171,7 +171,24 @@
nav2_util::declare_parameter_if_not_declared(
node, "service_introspection_mode", rclcpp::ParameterValue("disabled"));

std::string goal_heading_type;
nav2_util::declare_parameter_if_not_declared(
node, name + ".goal_heading_mode", rclcpp::ParameterValue("DEFAULT"));
node->get_parameter(name + ".goal_heading_mode", goal_heading_type);
_goal_heading_mode = fromStringToGH(goal_heading_type);

nav2_util::declare_parameter_if_not_declared(
node, name + ".coarse_search_resolution", rclcpp::ParameterValue(1));
node->get_parameter(name + ".coarse_search_resolution", _coarse_search_resolution);

if (_goal_heading_mode == GoalHeadingMode::UNKNOWN) {
std::string error_msg = "Unable to get GoalHeader type. Given '" + goal_heading_type + "' "
"Valid options are DEFAULT, BIDIRECTIONAL, ALL_DIRECTION. ";
throw nav2_core::PlannerException(error_msg);
}

_motion_model = fromString(_motion_model_for_search);

if (_motion_model == MotionModel::UNKNOWN) {
RCLCPP_WARN(
_logger,
Expand Down Expand Up @@ -685,11 +702,11 @@
_angle_quantizations = static_cast<unsigned int>(angle_quantizations);

if (_angle_quantizations % _coarse_search_resolution != 0) {
RCLCPP_WARN(

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nav2_smac_planner/src/smac_planner_hybrid.cpp#L705 

Added line #L705 was not covered by tests
_logger, "coarse iteration should be an increment of the "
"number of angular bins configured. Disabling course research!"
);
_coarse_search_resolution = 1;

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}
} else if (name == _name + ".coarse_search_resolution") {
_coarse_search_resolution = parameter.as_int();
Expand Down
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