git commit -m "first commit"

2026-05-28 10:29:58 +07:00
commit 167c52aeb6
2048 changed files with 740251 additions and 0 deletions
--- a/navigations/dwb_critics/src/path_align.cpp
+++ b/navigations/dwb_critics/src/path_align.cpp
@@ -0,0 +1,87 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2017, Locus Robotics
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ */
+#include <dwb_critics/path_align.h>
+#include <dwb_critics/alignment_util.h>
+#include <pluginlib/class_list_macros.h>
+#include <nav_2d_utils/parameters.h>
+#include <vector>
+#include <string>
+
+namespace dwb_critics
+{
+
+void PathAlignCritic::onInit()
+{
+  PathDistCritic::onInit();
+  stop_on_failure_ = false;
+  forward_point_distance_ = nav_2d_utils::searchAndGetParam(critic_nh_, "forward_point_distance", 0.325);
+}
+
+bool PathAlignCritic::prepare(const geometry_msgs::Pose2D& pose, const nav_2d_msgs::Twist2D& vel,
+                              const geometry_msgs::Pose2D& goal,
+                              const nav_2d_msgs::Path2D& global_plan)
+{
+  double dx = pose.x - goal.x;
+  double dy = pose.y - goal.y;
+  double sq_dist = dx * dx + dy * dy;
+  if (sq_dist > forward_point_distance_ * forward_point_distance_)
+  {
+    zero_scale_ = false;
+  }
+  else
+  {
+    // once we are close to goal, trying to keep the nose close to anything destabilizes behavior.
+    zero_scale_ = true;
+    return true;
+  }
+
+  return PathDistCritic::prepare(pose, vel, goal, global_plan);
+}
+
+double PathAlignCritic::getScale() const
+{
+  if (zero_scale_)
+    return 0.0;
+  else
+    return costmap_->getResolution() * 0.5 * scale_;
+}
+
+double PathAlignCritic::scorePose(const geometry_msgs::Pose2D& pose)
+{
+  return PathDistCritic::scorePose(getForwardPose(pose, forward_point_distance_));
+}
+
+}  // namespace dwb_critics
+
+PLUGINLIB_EXPORT_CLASS(dwb_critics::PathAlignCritic, dwb_local_planner::TrajectoryCritic)