Add CCTV risk-aware navigation planning package - #19
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| configured_params = RewrittenYaml( | ||
| source_file=params_file, | ||
| root_key='', | ||
| param_rewrites={'default_nav_to_pose_bt_xml': bt_xml}, |
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When launching with the default nav2_params_cctv.yaml, default_nav_to_pose_bt_xml is not an actual parameter (it only appears in a comment), so this leaf rewrite has nothing to replace; on Humble it will not add missing params, and on newer Nav2 releases adding missing params requires a full path containing ros__parameters. As a result, Proposed mode still uses Nav2's default behavior tree and the new IsDynamicPathOccupied branch is never loaded.
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| path_sub_ = create_subscription<nav_msgs::msg::Path>( | ||
| path_topic_, rclcpp::QoS(rclcpp::KeepLast(1)).transient_local(), |
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Nav2's planner publishes plan with the standard volatile QoS, so requesting transient_local durability here is incompatible unless the publisher is also changed. In Proposed mode this leaves last_path_ unset, so /planning/path_risk_state keeps reporting that it is waiting for /plan and IsDynamicPathOccupied never succeeds even when perception reports an object on the path.
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| <!-- 동적 객체 단기 점유: replan 억제, SpeedPlanner 감속 --> | ||
| <ReactiveSequence name="DynamicPathOccupied"> | ||
| <IsDynamicPathOccupied/> | ||
| <FollowPath path="{path}" controller_id="FollowPath" goal_checker_id="goal_checker"/> |
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When dynamic_path_occupied is true for a CCTV-only obstacle that is not present in /scan, this branch suppresses replanning but immediately ticks FollowPath on the stale path. I checked nav2_params_cctv.yaml: the local costmap now only has voxel_layer and inflation_layer, and this tree contains no SpeedController/wait action, so there is no component that will slow or stop for that perception-only obstacle; the robot can keep driving along the blocked path during the intended wait window.
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Summary
planning_pkgfor CCTV risk-aware navigation.Changed files
src/planning_pkg/**src/bringup_pkg/config/nav2_params_cctv.yamlsrc/bringup_pkg/launch/scout_cctv_nav2.launch.pysrc/bringup_pkg/README.mdTest
colcon buildNotes
lookahead_distis set to5.0mfor clearer comparison/demo behavior.