The algorithm take too much time to get a path

[jiangxinyu]

I am very appreciate that share the code on the github. But I have some problems when I set a goal that have a bit long distance from the start point. It take so much time to compute a path, almost 1 min and then robot is into the robot recovery status and rotate in place. What should I do to avoid it? Please help me.

[jiangxinyu]

The parameters are shown as follows:

<param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS" />
<param name="controller_frequency" value="2.0" />
<param name="controller_patience" value="15.0" />

<rosparam file="./params/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="./params/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="./params/local_costmap_params.yaml" command="load" />
<rosparam file="./params/global_costmap_params.yaml" command="load" />

<rosparam file="./params/teb_local_planner_params.yaml" command="load" />
<param name="clearing_rotation_allowed" value="true" />


    <param name="planner_frame" value="map" type="string"/>
    <param name="local_planner_frame" value="odom" type="string"/>
    <param name="map_topic" value="/move_base_node/global_costmap/costmap" type="string"/>


    <!-- planner related parameters -->
    <!-- WARNING: parameters related to the scene1.xml file -->
    <!--<param name="x1" value="-150.0" type="double"/>  
    <param name="y1" value="-150.0" type="double"/>
    <param name="x2" value="150.0" type="double"/>
    <param name="y2" value="150.0" type="double"/>-->

    <param name="cell_size_x" value="1" type="double"/>
    <param name="cell_size_y" value="1" type="double"/>

    <param name="minx" value="0" type="double" />
    <param name="miny" value="0" type="double" />
    <param name="grid_width" value="50" type="double" />
    <param name="grid_height" value="30" type="double" />
    <param name="cell_width" value="0.05" type="double"/>
    <param name="cell_height" value="0.05" type="double"/>
    <param name="PUBLISH_GRID" value="1" type="int"/>


    <!-- Set Goal Tollerance in the RRT planner -->
    <param name="GOAL_TOLL" value="0.5" type="double"/>
    <!-- Cost associated to Theta* -->

    <!-- True to select Theta* (1), False (0) to select A* -->
    <param name="select_globalplanner" value="1" type="int"/>
    <!-- Minimum cell probability to accept a cell as obstacle in the Grid Planner (see costmap and grid map msg documentation) -->
    <param name="LEVEL_OBSTACLE_" value="80" type="int"/>
    <!-- Minimum cell cost to have to accept a cell as obstacle in the RRT Planner(see costmap documentation) -->
    <param name="LEVEL_COLLCHECKER_OBSTACLE_" value="55" type="int"/>

    <!-- Maximum number of search steps allowed -->
    <param name="MAX_LIMIT_SEARCH_STEPS" value="10000" type="int"/>

    <param name="min_cost_p" value="0.5" type="double"/>

    <!-- Frequency of the Grid planner -->
    <param name="grid_planner_f" value="5" type="double"/>

    <!--
    Choose between the type of stop condition
    value=1, based on max number of seconds allowed
    value=0, based on max number of RRT iterations allowed
    -->
    <param name="TIMECOUNTER" value="1" type="int"/>
    <param name="MAXTIME" value="0.1" type="double"/>

    <!--
    WHAT_TO_SHOW = 0 Display nothing
    WHAT_TO_SHOW = 1 Display all the samples
    WHAT_TO_SHOW = 2 Display the nearest vertices
    -->
    <param name="WHATTOSHOW" value="1" type="int"/>


    <!-- Rectangle Collision Checker Params for Daryl Robot-->
    <param name="PARALLEL" value="0" type="int"/>
    <param name="K" value="5" type="int"/>
    <param name="RAD_OBST" value="2.5" type="double"/>
    <!-- <param name="ROBOT_LENGTH" value="0.78" type="double"/>
    <param name="ROBOT_WIDTH" value="0.55" type="double"/>
    -->
    <!-- Testing on IRL -->
    <param name="ROBOT_LENGTH" value="0.30" type="double"/>
    <param name="ROBOT_WIDTH" value="0.30" type="double"/>

    <!--
    According to the TIMECOUNTER
    it represents:
    - max number of seconds allowed or
    - max number of RRT iterations allowed
    -->
    <param name="max_iterations" value="1000" type="int"/>



    <!-- Not currently used -->
    <!--
    Choose between the type of distance metric
    value=2, Regression Neural Network
    value=1, Regression Basis Function Model
    value=0, POSQ 0.5
    value=3, Euclidean Distance
    value=4, IRL Cost
    value=5, IRL scaled + Smoothness
    -->
    <param name="SELECT_FUNC" value="1" type="int"/>
    <param name="SCALING_IRL" value="1" type="double"/>
    <param name="COST_DISPLAY" value="0" type="int"/>


    <!--
    Stop the planner at the first found solution
    value=1
    -->
    <param name="FIRSTSOLUTION" value="1" type="int"/>

    <param name="NRUNS" value="1" type="int" />

    <param name="NUMBER_UPDATE_TRAJ" value="2" type="int"/>

    <param name="NOANIM" value="0" type="int"/>

    <param name="DISPLAY_METRICS" value="0" type="int"/>


    <!--
    Disply Debug info
    value=1
    -->
    <param name="DEB_RRT" value="1" type="int"/>


    <!-- If GOALPARAM == 1 the goal is loaded from parameters  -->
    <param name="GOALPARAM" value="0" type="int"/>

    <!-- planner related parameters: select the type of planner you prefer.
    value=0 RRT
    value=1 RRT* with only one phase
    value=2 RRT* full
    -->
    <param name="type_planner" value="2" type="int"/>

    <!-- If BOX == 1 BallBox Theorem Applied when Nearest Vertex is choosed -->
    <param name="BOX" value="0" type="int"/>

    <!-- RADIUS is the value of the radius used to select the nearest vertex, if radius is ZERO than its value is choosed by RRT* -->
    <param name="RADIUS" value="4" type="double"/>
    <param name="RHO" value=".15" type="double"/>
    <param name="DT"  value="0.1" type="double"/>
    <!-- <param name="L_AXIS" value="0.456" type="double"/> -->
    <param name="READ_AGENTS" value="0" type="int"/>
    <param name="L_AXIS" value="0.456" type="double"/>
    <!-- <param name="L_AXIS" value="0.92" type="double"/> -->




    <!-- Params Branching -->
    <param name="THRS_BRANCHBOUND" value="0.1" type="double"/>
    <param name="BRANCHBOUND" value="0" type="int"/>
    <param name="BRANCHBOUND_RATIO" value="100" type="int"/>


    <!-- Params related to SAMPLING -->
    <!-- if TYPE_SAMPLING == 2 support set as gaussians over a spline fitting the Theta* waypoints -->
    <!-- If TYPE_SAMPLING == 1 support set as Gaussian -->
    <!-- if TYPE_SAMPLING == 0 support set as uniform over a strips -->
    <!-- if TYPE_SAMPLING == 3 support for Theta*-RRT -->
    <!-- if TYPE_SAMPLING == 4 support set as the entire state space-->
    <!-- if TYPE_SAMPLING == 5 Path Biasing along the current available trajectory-->
    <param name="TYPE_SAMPLING" value="3" type="int"/> 


    <!-- Goal Biasing valid only with TYPE_SAMPLING == 4 -->
    <!--<param name="GOAL_BIASING" value="1" type="int"/>-->
    <param name="GOAL_BIASING" value="5" type="int"/>

    <param name="GOAL_BIASING_ORIENTATION_RANGE" value="0" type="double"/>

    <param name="GOAL_BIASING_THS" value="0.15" type="double"/>

    <!-- Trajectory biasing valid only with TYPE_SAMPLING == 5 -->
    <param name="BIAS_PROB" value="0.99" type="double"/>

    <param name="DISPERSION" value="0.5" type="double"/>

    <param name="SRCPARENT" value="0" type="int"/>

    <!--   OR_RANGE is the value of the orientation range
    OR_RANGE = M_PI = 3.14
    OR_RANGE = M_PI/2 = 1.57
    -->
    <param name="OR_RANGE" value="0.80" type="double"/>

    <param name="AVERAGING" value="2" type="int"/>

    <!-- Size of the strip if no Gaussian support is used -->
    <param name="WIDTH_STRIP"  value="4" type="double" />


    <!-- Choose if to add cost from global cost map -->
    <param name="ADD_COST_FROM_COSTMAP" value="true" type="bool"/>

    <!-- Choose if to add cost associated to path length and changes of heading -->
    <param name="ADD_COST_PATHLENGTH" value="0" type="int"/>

    <!-- Choose if to add cost closeness to thetastar path -->
    <param name="ADD_COST_THETASTAR" value="1" type="int"/>


    <!--
    Choose the model
    if MODEL_COST==0, Repulsive Force
    if MODEL_COST==1, Attractive Force
    if MODEL_COST==2 Attractive Force + Orientation

    -->
    <param name="MODEL_COST" value="2" type="int"/>

    <!--   Number of points of the trajectory between the evaluation of the Theta* cost
    -->
    <param name="n_dis_traj" value="25" type="int"/>

    <!-- Params to set how to select the nearest vertex -->
    <!-- find the nearest vertex according to a cost -->
    <param name="LEARNED"  value="0" type="int" />

    <!-- find the nearest vertex according to the Kd Tree Euclidean Distance -->
    <param name="FINDNEAREST"  value="0" type="int" />

    <!-- Compute the Cost using the Basis Function Model if NOTLEARNED==0 -->
    <param name="NOTLEARNED"  value="1" type="int" />


    <!-- Params to include cost of the Theta* path distance -->
    <!-- In cost function associated to the Theta* path -->
    <param name="Kd" value="0.5" type="double" />
    <param name="Kangle" value="0.5" type="double" />
    <!-- In the cost function associated to the path length and heading changes -->
    <param name="Kdist" value="0.5" type="double" />
    <param name="Kor" value="0.5" type="double" />

    <param name="Kth" value="1" type="double" />

    <!-- Param to tune how far the orientation has to converge to the average orientation between two theta* segments -->
    <param name="Kround" value="1" type="double"/>

    <!-- Use external Sigmas definitions -->
    <param name="EXT_SIGMAS" value="1" type="int"/>

    <param name="SigmaoverX" value="3" type="double" />

    <param name="SigmaoverY" value="3" type="double" />

[ibdbmaster]

@jiangxinyu Hello i'm also trying to get the srl_global_planner running. But I've the problem that there is the spencer_navigation package required and I'm not able to find it any where. Can you tell me how you got the planner running?
Thanks a lot!

[corot]

Hi @ibdbmaster, probably you already found it, but just in case:

  git clone https://github.com/spencer-project/spencer_messages.git

But this package doesn't compile with ROS navigation kinetic; I'm trying instead plugin_global_planner branch from @thobotics's fork

[zdxyzprince]

Hi @corot ,i'm also trying to get the srl_global_planner running. But I've the problem that there is the spencer_nav_msgs package required and I'm not able to find it . Can you tell me how you got the spencer_nav_msgs?
Thanks a lot!

[reobaird]

Hi, Just wondering if this was ever resolved and if devs are still around? I just finished making changes to compile without Spencer package and in Kinetic but also having trouble with very long planning times and strange behavior.

[corot]

Nop, didn't manage to get anything usable. @reobaird, do you have your version without spencer dependencies available as a fork? Would you mind to make it public if nor?
Thanks!

[shadow3303]

@zdxyzprince ，Hi，I met a same bug ,How do you solve it?

[yuhuabing]

@reobaird

Can you tell me how you changed the code?

[opan08]

Hi @corot ,i'm also trying to get the srl_global_planner running. But I've the problem that there is the spencer_nav_msgs package required and I'm not able to find it . Can you tell me how you got the spencer_nav_msgs?
Thanks a lot!

In spencer_messages respository, checkout into fef6a8bf, than you can find the spencer_navigation package.

[corot]

In spencer_messages respository, checkout into fef6a8bf, than you can find the spencer_navigation package.

Not working on this anymore, but thanks for telling! 👍