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feat(control): introduce RAMSETE controller to improve tracking stability #127

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feat(control): introduce RAMSETE controller to improve tracking stability #127

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11 changes: 8 additions & 3 deletions tinynav/core/planning_node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,7 @@
from numba import njit
import message_filters
from rclpy.time import Time
from rclpy.duration import Duration
from sensor_msgs.msg import PointCloud2, PointCloud
from geometry_msgs.msg import PoseStamped, Point32
import sensor_msgs_py.point_cloud2 as pc2
Expand Down Expand Up @@ -349,7 +350,7 @@ def __init__(self):
self.occupancy_cloud_esdf_pub = self.create_publisher(PointCloud2, '/planning/occupied_voxels_with_esdf', 10)
self.occupancy_grid_pub = self.create_publisher(OccupancyGrid, '/planning/occupancy_grid', 10)
self.depth_sub = message_filters.Subscriber(self, Image, '/slam/depth')
self.pose_sub = message_filters.Subscriber(self, Odometry, '/slam/odometry_visual')
self.pose_sub = message_filters.Subscriber(self, Odometry, '/slam/odometry')

@xiaolefang-dm xiaolefang-dm May 8, 2026

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this should keep /slam/odometry_visual on pr


self.ts = message_filters.TimeSynchronizer([self.depth_sub, self.pose_sub], queue_size=10)
self.ts.registerCallback(self.sync_callback)
Expand All @@ -369,6 +370,7 @@ def __init__(self):
self.current_pose = None # Store the latest pose from odometry

self.smoothed_velocity = 0.0
self.dt = 0.1

self.create_subscription(Odometry, '/control/target_pose', self.target_pose_callback, 10)
self.target_pose = None
Expand Down Expand Up @@ -562,7 +564,8 @@ def sync_callback(self, depth_msg, odom_msg):
trajectories, params = generate_trajectory_library_3d(
init_p = self.camera_to_robot_center(T),
init_v = init_v,
init_q = np.array([odom_msg.pose.pose.orientation.x, odom_msg.pose.pose.orientation.y, odom_msg.pose.pose.orientation.z, odom_msg.pose.pose.orientation.w])
init_q = np.array([odom_msg.pose.pose.orientation.x, odom_msg.pose.pose.orientation.y, odom_msg.pose.pose.orientation.z, odom_msg.pose.pose.orientation.w]),
dt = self.dt
)
self.last_T = T
self.last_stamp = stamp
Expand Down Expand Up @@ -591,8 +594,9 @@ def cost_function(traj, param, score, target_pose):
path = Path()
path.header = depth_msg.header
path.header.frame_id = "world"
base_time = Time.from_msg(depth_msg.header.stamp)
for i in top_indices:
for j in range(0, len(trajectories[i]), 10):
for j in range(0, len(trajectories[i]), 2):
x,y,z,qx,qy,qz,qw = trajectories[i][j]
if self.poi_changed or self.target_pose is None:
x,y,z,qx,qy,qz,qw = trajectories[i][0]
Expand All @@ -603,6 +607,7 @@ def cost_function(traj, param, score, target_pose):

pose = PoseStamped()
pose.header = depth_msg.header
pose.header.stamp = (base_time + Duration(seconds=float(j) * self.dt)).to_msg()
pose.pose.position.x = x
pose.pose.position.y = y
pose.pose.position.z = z
Expand Down
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