Thuat toan

src/APIs/c_api/src/nav_c_api.cpp

@@ -569,11 +569,16 @@ extern "C" bool navigation_set_twist_linear(NavigationHandle handle,
       return false;
 
     robot_geometry_msgs::Vector3 linear;
-    linear.x = linear_x;
+    linear.x = 0.1;
     linear.y = linear_y;
     linear.z = linear_z;
-    robot::log_info("setTwistLinear %f", linear.x);
+    bool result = nav_ptr->setTwistLinear(linear);
-    return nav_ptr->setTwistLinear(linear);
+    robot::log_info("setTwistLinear Forward %f", linear.x);
+    
+    linear.x = -0.1;
+    result &= result && nav_ptr->setTwistLinear(linear);
+    robot::log_info("setTwistLinear Backward %f", linear.x);
+    return result;
   }
   catch (...)
   {

src/Algorithms/Libraries/mkt_algorithm/src/diff/diff_predictive_trajectory.cpp

@@ -440,8 +440,6 @@ bool mkt_algorithm::diff::PredictiveTrajectory::prepare(const robot_nav_2d_msgs:
       double dir_path = cos(fabs(angle_path - goal_pose.theta));
       if (fabs(dir_path) > M_PI / 6 || x_direction < 1e-9)
         x_direction = dir_path > 0 ? FORWARD : BACKWARD;
-      else
-        x_direction = 0.0;
     }
     catch (std::exception &e)
     {
@@ -483,8 +481,8 @@ mkt_msgs::Trajectory2D mkt_algorithm::diff::PredictiveTrajectory::calculator(
     twist = traj_->nextTwist();
   }
   double v_max = sign_x > 0 ? traj_->getTwistLinear(true).x : traj_->getTwistLinear(false).x;
-  // drive_cmd.x = std::min(sqrt(twist.x * twist.x),  fabs(v_max));
+  drive_cmd.x = std::min(sqrt(twist.x * twist.x),  fabs(v_max));
-  drive_cmd.x = sqrt(twist.x * twist.x);
+  // drive_cmd.x = sqrt(twist.x * twist.x);
   
   robot_nav_2d_msgs::Path2D transformed_plan = this->transform_plan_;
   if (transformed_plan.poses.empty())
@@ -591,7 +589,11 @@ mkt_msgs::Trajectory2D mkt_algorithm::diff::PredictiveTrajectory::calculator(
   }
 
   if(fabs(v_max == 0.0))
+  {
     drive_cmd.x = 0.0;
+    robot::log_warning_throttle(0.2, "[%s:%d]\n v_max is 0.0", __FILE__, __LINE__);
+    return result;
+  }
   result.velocity = drive_cmd;
   prevous_drive_cmd_ = drive_cmd;
   return result;
@@ -678,6 +680,7 @@ void mkt_algorithm::diff::PredictiveTrajectory::computePurePursuit(
       double dw_heading = std::clamp(w_heading - velocity.theta, -acc_lim_theta_ * dt, acc_lim_theta_ * dt);
       ss << "dw_heading " << dw_heading << " ";
       w_target = velocity.theta + dw_heading;
+      // w_target = std::clamp(w_target, -0.03, 0.03);
     }
     else
     {
@@ -776,10 +779,11 @@ bool mkt_algorithm::diff::PredictiveTrajectory::shouldRotateToPath(
   // const double max_kappa = calculateMaxKappa(global_plan);
   // const bool curvature = max_kappa > straight_threshold;
   double path_angle = std::atan2(carrot_pose.pose.y, carrot_pose.pose.x);
-  if(is_stopped && global_plan.poses.size() >= 2)
+  if(is_stopped && global_plan.poses.size() >= 4 &&
+  journey(global_plan.poses, 0, global_plan.poses.size() - 1) >= 0.7 * min_lookahead_dist_)
   {
-    const auto& p1 = global_plan.poses[1];
+    const auto& p1 = global_plan.poses[2];
-    for(int i = 2; i < global_plan.poses.size(); i++)
+    for(int i = 3; i < global_plan.poses.size(); i++)
     {
       const auto& p = global_plan.poses[i];
       const auto& dx = p.pose.x - p1.pose.x;
@@ -820,6 +824,9 @@ bool mkt_algorithm::diff::PredictiveTrajectory::shouldRotateToPath(
   //   ROS_INFO_THROTTLE(0.1, "velocity.x: %f, velocity.theta: %f, ", velocity.x, velocity.theta);
   //   ROS_INFO_THROTTLE(0.1, "angle_to_path: %f, heading_rotate: %f, is_stopped: %x %x, sign_x: %f", angle_to_path, heading_rotate, is_stopped, sign(angle_to_path) * sign_x < 0, sign_x);
   // }
+#else
+  if (result)
+    robot::log_info_throttle(0.1, "angle_to_path: %f, heading_rotate: %f, is_stopped: %x %x, sign_x: %f", angle_to_path, heading_rotate, is_stopped, sign(angle_to_path) * sign_x < 0, sign_x);
 #endif
   return result;
 }