From c84c0b66c359884fbe46824001c5518986e51a5b Mon Sep 17 00:00:00 2001 From: Alexander Mock Date: Mon, 7 Jul 2025 10:12:27 +0200 Subject: [PATCH 1/3] Increased depth to allow RViz to more robustly receive changes in the costmap parameters --- mesh_navigation_tutorials/rviz/default.rviz | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/mesh_navigation_tutorials/rviz/default.rviz b/mesh_navigation_tutorials/rviz/default.rviz index ef6b524..9185050 100644 --- a/mesh_navigation_tutorials/rviz/default.rviz +++ b/mesh_navigation_tutorials/rviz/default.rviz @@ -132,13 +132,13 @@ Visualization Manager: Value: Vertex Costs Vertex Color Service Name: get_vertex_colors Vertex Colors Topic: - Depth: 1 + Depth: 10 Durability Policy: Transient Local History Policy: Keep Last Reliability Policy: Reliable Value: /move_base_flex/vertex_colors Vertex Costs Topic: - Depth: 1 + Depth: 10 Durability Policy: System Default History Policy: Keep All Reliability Policy: System Default From 348fc9aa70891dc2083df7ce3cd4ccee5cbc6b5c Mon Sep 17 00:00:00 2001 From: Alexander Mock Date: Mon, 7 Jul 2025 10:17:56 +0200 Subject: [PATCH 2/3] added new parameter 'cost_scaling_factor'. Added better radii for inflation. --- mesh_navigation_tutorials/config/mbf_mesh_nav.yaml | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/mesh_navigation_tutorials/config/mbf_mesh_nav.yaml b/mesh_navigation_tutorials/config/mbf_mesh_nav.yaml index abdfd74..3967d2a 100644 --- a/mesh_navigation_tutorials/config/mbf_mesh_nav.yaml +++ b/mesh_navigation_tutorials/config/mbf_mesh_nav.yaml @@ -11,7 +11,7 @@ move_base_flex: planners: ['mesh_planner'] mesh_planner: type: 'cvp_mesh_planner/CVPMeshPlanner' - cost_limit: 0.8 + cost_limit: 0.95 publish_vector_field: true planner_patience: 10.0 planner_max_retries: 2 @@ -61,8 +61,9 @@ move_base_flex: inflation: type: 'mesh_layers/InflationLayer' factor: 1.0 - inflation_radius: 0.5 - inscribed_radius: 0.7 - lethal_value: 1.0 - inscribed_value: 0.6 + inflation_radius: 1.0 # outer ring + inscribed_radius: 0.5 # inner ring + lethal_value: 1.0 # is also inscribed value + inscribed_value: 1.0 repulsive_field: false + cost_scaling_factor: 2.0 From e69b3c50528e598989b0effda8760d2a9d5ae89b Mon Sep 17 00:00:00 2001 From: Alexander Mock Date: Fri, 25 Jul 2025 14:40:20 +0200 Subject: [PATCH 3/3] Integrated parameters for cost-aware path planning. Added some comments to the parameters. Removed unused map files --- .../config/mbf_mesh_nav.yaml | 38 ++- .../maps/floor_is_lava.dae | 66 ----- .../maps/floor_is_lava.h5 | Bin 432605 -> 0 bytes .../maps/floor_is_lava_s3.dae | 243 ------------------ .../maps/floor_is_lava_s3.h5 | Bin 92227 -> 0 bytes .../maps/floor_is_lava_s3.ply | Bin 243191 -> 0 bytes .../maps/parking_garage.dae | 56 ---- .../maps/parking_garage.h5 | Bin 2843200 -> 0 bytes .../maps/parking_garage.ply | Bin 3145416 -> 8640255 bytes .../maps/parking_garage_s4.dae | 211 --------------- .../maps/parking_garage_s4.h5 | Bin 1202142 -> 0 bytes .../maps/parking_garage_s4.ply | Bin 7494026 -> 0 bytes mesh_navigation_tutorials/maps/tray.dae | 66 ----- mesh_navigation_tutorials/maps/tray.h5 | Bin 87765 -> 0 bytes mesh_navigation_tutorials/maps/tray_s4.dae | 243 ------------------ mesh_navigation_tutorials/maps/tray_s4.h5 | Bin 51249 -> 0 bytes mesh_navigation_tutorials/maps/tray_s4.ply | Bin 113271 -> 0 bytes 17 files changed, 29 insertions(+), 894 deletions(-) delete mode 100644 mesh_navigation_tutorials/maps/floor_is_lava.dae delete mode 100644 mesh_navigation_tutorials/maps/floor_is_lava.h5 delete mode 100644 mesh_navigation_tutorials/maps/floor_is_lava_s3.dae delete mode 100644 mesh_navigation_tutorials/maps/floor_is_lava_s3.h5 delete mode 100644 mesh_navigation_tutorials/maps/floor_is_lava_s3.ply delete mode 100644 mesh_navigation_tutorials/maps/parking_garage.dae delete mode 100644 mesh_navigation_tutorials/maps/parking_garage.h5 delete mode 100644 mesh_navigation_tutorials/maps/parking_garage_s4.dae delete mode 100644 mesh_navigation_tutorials/maps/parking_garage_s4.h5 delete mode 100644 mesh_navigation_tutorials/maps/parking_garage_s4.ply delete mode 100644 mesh_navigation_tutorials/maps/tray.dae delete mode 100644 mesh_navigation_tutorials/maps/tray.h5 delete mode 100644 mesh_navigation_tutorials/maps/tray_s4.dae delete mode 100644 mesh_navigation_tutorials/maps/tray_s4.h5 delete mode 100644 mesh_navigation_tutorials/maps/tray_s4.ply diff --git a/mesh_navigation_tutorials/config/mbf_mesh_nav.yaml b/mesh_navigation_tutorials/config/mbf_mesh_nav.yaml index 3967d2a..7d1a198 100644 --- a/mesh_navigation_tutorials/config/mbf_mesh_nav.yaml +++ b/mesh_navigation_tutorials/config/mbf_mesh_nav.yaml @@ -11,8 +11,9 @@ move_base_flex: planners: ['mesh_planner'] mesh_planner: type: 'cvp_mesh_planner/CVPMeshPlanner' - cost_limit: 0.95 + cost_limit: 2.0 # inscribed radius has inf values. so they will be avoided independent on how we select this value publish_vector_field: true + planner_patience: 10.0 planner_max_retries: 2 project_path_onto_mesh: false @@ -31,39 +32,58 @@ move_base_flex: mesh_map: # input - # mesh_file: '/home/amock/mesh_nav_ws/src/mesh_navigation_tutorials/mesh_navigation_tutorials/maps/parking_garage.ply' + # In this examples, `mesh_file` is set dynamically from the launch file. + # you can also set it statically: + # mesh_file: '.../parking_garage.ply' mesh_part: '/' # storage # mesh_working_file: 'parking_garage.h5' mesh_working_part: 'mesh' # half-edge-mesh implementation - hem: pmp # pmp (default), lvr + # pmp (default), lvr + hem: pmp + # compute each layer's vertex costs in the following order layers: ['border', 'height_diff', 'roughness', 'inflation'] + # After computing the layers, a final combined vertex cost is determined by linearly combine all layers' vertex costs: + # -> vertex_cost = layer1.combination_weight * layer1.vertex_cost + layer2.combination_weight * layer2.vertex_cost + ... + # The lethal vertices are accumulated in a set along the layer list height_diff: type: 'mesh_layers/HeightDiffLayer' - factor: 1.0 + combination_weight: 0.0 threshold: 0.8 border: type: 'mesh_layers/BorderLayer' - factor: 1.0 + combination_weight: 0.0 border_cost: 1.0 threshold: 0.2 roughness: type: 'mesh_layers/RoughnessLayer' - factor: 1.0 + combination_weight: 0.0 threshold: 0.8 inflation: type: 'mesh_layers/InflationLayer' - factor: 1.0 - inflation_radius: 1.0 # outer ring - inscribed_radius: 0.5 # inner ring + combination_weight: 1.0 + inflation_radius: 1.5 # outer ring + inscribed_radius: 0.4 # inner ring lethal_value: 1.0 # is also inscribed value inscribed_value: 1.0 repulsive_field: false cost_scaling_factor: 2.0 + + # An edge cost equals the total costs that are collected along a + # triangle's edge by linearly interpolating the combined vertex costs + # This factor defines the factor that is used for the final edge weight + # -> edge_weight = edge_length + edge_cost_factor * edge_cost + # This edge_weight is then passed to the global planner to search for + # the best path + # Note: Set this to 0.0 if you need the shortest path + edge_cost_factor: 5.0 + + # debug function: enable this, for publishing text markers with edge costs + publish_edge_weights_text: false diff --git a/mesh_navigation_tutorials/maps/floor_is_lava.dae b/mesh_navigation_tutorials/maps/floor_is_lava.dae deleted file mode 100644 index a4039e8..0000000 --- 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