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update padFootprint() function #4832

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update padFootprint() function #4832

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a1a78a3
pad wrt centroid and shrink when padding is -ve
Nisarg236 Jan 8, 2025
e621d5f
fix code not building
Nisarg236 Jan 8, 2025
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7 changes: 7 additions & 0 deletions nav2_costmap_2d/include/nav2_costmap_2d/footprint.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -96,6 +96,13 @@ void transformFootprint(
const std::vector<geometry_msgs::msg::Point> & footprint_spec,
std::vector<geometry_msgs::msg::Point> & oriented_footprint);

/**
* @brief Calculate the centroid of a vector of 2D points.
* @param footprint A vector of points (type geometry_msgs::Point) representing a 2D polygon (footprint).
* @return The centroid of the footprint as a geometry_msgs::Point.
*/
geometry_msgs::msg::Point calculateCentroid(const std::vector<geometry_msgs::msg::Point>& footprint);

/**
* @brief Given a pose and base footprint, build the oriented footprint of the robot (PolygonStamped)
* @param x The x position of the robot
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37 changes: 32 additions & 5 deletions nav2_costmap_2d/src/footprint.cpp
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Expand Up @@ -142,13 +142,40 @@ void transformFootprint(
}
}

geometry_msgs::msg::Point calculateCentroid(const std::vector<geometry_msgs::msg::Point>& footprint)
{
geometry_msgs::Point center;
double sum_x = 0.0, sum_y = 0.0;

for (const auto& point : footprint)
{
sum_x += point.x;
sum_y += point.y;
}

if (!footprint.empty()) {
center.x = sum_x / footprint.size();
center.y = sum_y / footprint.size();
}

return center;
}

void padFootprint(std::vector<geometry_msgs::msg::Point> & footprint, double padding)
{
// pad footprint in place
for (unsigned int i = 0; i < footprint.size(); i++) {
geometry_msgs::msg::Point & pt = footprint[i];
pt.x += sign0(pt.x) * padding;
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Please point out to me the error in the code here - I don't see any immediately.

Is the issue the case where you have a coordinate exactly at 0.0? 0.0 for the footprint would be the center of your robot, since that is the 0.0, 0.0 w.r.t. your base_link or base_footprint frame -- which is almost always the center of your robot or aligned with some axle that wouldn't then be a corner of a robot. That would point to me more an issue in your configuration

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See https://docs.nav2.org/setup_guides/footprint/setup_footprint.html

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@Nisarg236 should this be closed?

pt.y += sign0(pt.y) * padding;
geometry_msgs::msg::Point footprint_center = calculateCentroid(footprint);

for (auto& point : footprint)
{
double dx = point.x - footprint_center.x;
double dy = point.y - footprint_center.y;
double distance = std::hypot(dx, dy);

if (distance > 0.0)
{
point.x += padding * (dx / distance);
point.y += padding * (dy / distance);
}
}
}

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12 changes: 6 additions & 6 deletions nav2_costmap_2d/test/integration/footprint_tests.cpp
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Expand Up @@ -153,16 +153,16 @@ TEST_F(TestNode, padded_footprint_from_string_param)
std::vector<geometry_msgs::msg::Point> footprint = footprint_tester_->getRobotFootprint();
EXPECT_EQ(3u, footprint.size());

EXPECT_EQ(1.5f, footprint[0].x);
EXPECT_EQ(1.5f, footprint[0].y);
EXPECT_NEAR(1.44721f, footprint[0].x, 0.0001f);
EXPECT_NEAR(1.22361f, footprint[0].y, 0.0001f);
EXPECT_EQ(0.0f, footprint[0].z);

EXPECT_EQ(-1.5f, footprint[1].x);
EXPECT_EQ(1.5f, footprint[1].y);
EXPECT_NEAR(-1.35355f, footprint[1].x, 0.0001f);
EXPECT_NEAR(1.35355f, footprint[1].y, 0.0001f);
EXPECT_EQ(0.0f, footprint[1].z);

EXPECT_EQ(-1.5f, footprint[2].x);
EXPECT_EQ(-1.5f, footprint[2].y);
EXPECT_NEAR(-1.22361f, footprint[2].x, 0.0001f);
EXPECT_NEAR(-1.44721f, footprint[2].y, 0.0001f);
EXPECT_EQ(0.0f, footprint[2].z);
}

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