Skip to content

Path Planning: For Real This Time™️ #71

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
S1ink merged 8 commits into from
Jan 17, 2026
Merged

Path Planning: For Real This Time™️ #71

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
8 commits
Select commit Hold shift + click to select a range
be68097
path planning map
S1ink Jan 3, 2026
19fcee3
back in stupid town
S1ink Jan 5, 2026
1adb078
map accumulation [mostly] successful
S1ink Jan 8, 2026
49c1504
add new pplan configs, implement crop and retry, add lance2 configs
S1ink Jan 13, 2026
a9e54a8
performance tuning
S1ink Jan 15, 2026
c8c4e54
pplan segment straightness weighting
S1ink Jan 15, 2026
07c6291
my final commit*
S1ink Jan 16, 2026
0db45eb
forgot to expose params womp
S1ink Jan 16, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
76 changes: 58 additions & 18 deletions config/perception.json
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -173,9 +173,15 @@
"boundary_radius": 0.15,
"goal_threshold": 0.1,
"search_radius": 0.5,
"lambda_distance": 1.0,
"lambda_penalty": 1.0,
"max_neighbors": 11
"distance_coeff": 1.0,
"straightness_coeff": 2.0,
"traversibility_coeff": 1.0,
"verification_range": 1.5,
"verification_degree": 2,
"max_neighbors": 11,
"map_obstacle_merge_window": 0.5,
"map_passive_crop_horizontal_range": 10.0,
"map_passive_crop_vertical_range": 5.0
}
},
"sim":
Expand Down Expand Up @@ -489,7 +495,7 @@
},
"robot_tf":
{
"pragma:default": "lance",
"pragma:default": "lance2",
"lance":
{
"robot_description":
Expand All @@ -499,8 +505,6 @@
"links": [
"base_link",
"frame_link",
"left_track_link",
"right_track_link",
"collection_link",
"lidar_link",
"lidar_link_inv_rotated"
Expand All @@ -512,18 +516,6 @@
"child": "frame_link",
"origin": { "xyz": [0, 0, 0.13103567] }
},
"left_track_joint": {
"type": "fixed",
"parent": "frame_link",
"child": "left_track_link",
"origin": { "xyz": [0.20318559, 0.289888, 0.00242022] }
},
"right_track_joint": {
"type": "fixed",
"parent": "frame_link",
"child": "right_track_link",
"origin": { "xyz": [0.20318559, -0.289888, 0.00242022] }
},
"dump_joint": {
"type": "revolute",
"parent": "frame_link",
Expand Down Expand Up @@ -561,6 +553,54 @@
}
}
}
},
"lance2":
{
"robot_description":
{
"name": "lance2",
"structure":
{
"links": [
"base_link",
"hopper_link",
"lidar_link"
],
"joints":
{
"hopper_joint":
{
"type": "revolute",
"parent": "base_link",
"child": "hopper_link",
"origin":
{
"xyz": [-0.4572, 0, 0.3488],
"rpy": [0, 0.175, 0]
},
"axis": [0, 1, 0],
"limit":
{
"upper": 0.175,
"lower": -0.175,
"effort": 100,
"velocity": 100
}
},
"lidar_joint":
{
"type": "fixed",
"parent": "base_link",
"child": "lidar_link",
"origin":
{
"xyz": [0.5156, 0.0, 0.5691],
"rpy": [3.14159, 0.349066, 0.0]
}
}
}
}
}
}
},
"bag_play":
Expand Down
80 changes: 0 additions & 80 deletions include/modules/accumulator_map.hpp
View file
Open in desktop

This file was deleted.

22 changes: 9 additions & 13 deletions include/modules/impl/kfc_map_impl.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -68,14 +68,12 @@ void KFCMap<PointT, MapT>::applyParams(

if (voxel_res > 0.)
{
this->map_octree.setResolution(voxel_res);
this->map_octree.reconfigure(voxel_res);
}
}

template<typename PointT, typename MapT>
void KFCMap<PointT, MapT>::setBounds(
const Vec3f& min,
const Vec3f& max)
void KFCMap<PointT, MapT>::setBounds(const Vec3f& min, const Vec3f& max)
{
std::unique_lock<std::mutex> lock{this->mtx};

Expand All @@ -87,12 +85,11 @@ void KFCMap<PointT, MapT>::setBounds(

template<typename PointT, typename MapT>
template<int CollisionV, typename RayDirT>
typename KFCMap<PointT, MapT>::UpdateResult
KFCMap<PointT, MapT>::updateMap(
const Vec3f& origin,
const pcl::PointCloud<PointT>& pts,
const std::vector<RayDirT>* inf_rays,
const pcl::Indices* pt_indices)
typename KFCMap<PointT, MapT>::UpdateResult KFCMap<PointT, MapT>::updateMap(
const Vec3f& origin,
const PointCloudT& pts,
const std::vector<RayDirT>* inf_rays,
const pcl::Indices* pt_indices)
{
UpdateResult results{};
if (pt_indices && pt_indices->size() <= 0)
Expand Down Expand Up @@ -135,8 +132,7 @@ typename KFCMap<PointT, MapT>::UpdateResult
// prepare submap range buffer
if (!this->submap_ranges)
{
this->submap_ranges =
std::make_shared<pcl::PointCloud<CollisionPointT>>();
this->submap_ranges = std::make_shared<CollisionPointCloudT>();
}
this->submap_ranges->clear();
this->submap_ranges->reserve(buff.search_indices.size());
Expand Down Expand Up @@ -284,7 +280,7 @@ typename KFCMap<PointT, MapT>::UpdateResult
itr != buff.submap_remove_indices.end();
itr++)
{
this->map_octree.deletePoint(*itr);
this->map_octree.deletePoint(*itr, true);
}
// add source points
this->map_octree.addPoints(pts, &buff.points_to_add);
Expand Down
Loading