From fadcd8c5b088b0edbad562689963cb6e659fd98a Mon Sep 17 00:00:00 2001
From: Ely Repiso Polo <erepiso@iri.upc.edu>
Date: Fri, 18 Jun 2021 11:05:32 +0000
Subject: [PATCH] quitado algun parametro del rqt_reconfigure mas

---
 cfg/AkpLocalPlanner.cfg                       |  47 +++++++---------
 config/IVO/akp_local_planner_params.yaml      |   2 +-
 config/ana2/akp_local_planner_params.yaml     |   2 +-
 config/dabo/akp_local_planner_params.yaml     |   2 +-
 config/tibi/akp_local_planner_params.yaml     |   2 +-
 include/akp_local_planner_alg_node.h          |   4 +-
 ...VO_ONLY_one_person_ACCOMPANIMENT_ASPSI.odt | Bin 31417 -> 31410 bytes
 .../Tutorial_Capabilities.odt                 | Bin 15022452 -> 15022349 bytes
 src/akp_local_planner_alg_node.cpp            |  52 ++++--------------
 9 files changed, 37 insertions(+), 74 deletions(-)

diff --git a/cfg/AkpLocalPlanner.cfg b/cfg/AkpLocalPlanner.cfg
index 1f02fe3..f63df1c 100755
--- a/cfg/AkpLocalPlanner.cfg
+++ b/cfg/AkpLocalPlanner.cfg
@@ -34,11 +34,7 @@ PACKAGE='iri_robot_aspsi'
 
 from dynamic_reconfigure.parameter_generator_catkin import *
 gen = ParameterGenerator()
-gen.add("frame_map",                str_t,     0, "frame to transform poses to", "map")
-gen.add("frame_robot_footprint",    str_t,     0, "frame to transform poses to", "ana/base_link") 
-gen.add("fuera_bolitas_goals_companion_markers_conf",      bool_t,    0,   " Fuera bolas markers",   True)
-gen.add("conf_debug_all_IVO",      bool_t,    0,   " All mesagenes to debug IVO",   True)
-gen.add("conf_debug_few_IVO",      bool_t,    0,   " Only few velocity messages to debug IVO",   False)
+
 
 #### Parameters to start the simulation ####
 gen.add("Block_parameters_division1"                  , str_t,    0,  "Parameters to start the simulation:","Parameters to start the simulation:")
@@ -55,21 +51,11 @@ gen.add("launch_goal"   ,   bool_t,  0, "if True => send goal", False)
 gen.add("Block_parameters_division2"                  , str_t,    0,  "To Stop the robot manually: ", "To Stop the robot manually:")
 gen.add("stop_robot_manually_conf",      bool_t,    0,   " To stop the robot manually.",   False)
 
-####  Parameters to  visualize markers and output messages ####
-gen.add("Block_parameters_division3"                  , str_t,    0,  "Parameters to  visualize markers and output messages: ", "Parameters to  visualize markers and output messages: ")
+####  Parameters to  visualize markers and output messages TODO: intentar quitar estos, no se usa. EXCEPTO vis_mode.  ####
+gen.add("Block_parameters_division3"                  , str_t,    0,  "Parameters to  visualize markers of ASPSI: ", "Parameters to  visualize markers of ASPSI: ")
 # visualization markers
 gen.add("vis_mode",         int_t,    0,   "Visualization markers: #0 no markers, #1 min, #2 normal(2d), #3 super (3d), #4 SUPER!",          4,      0,  7)
-# minimum output screen messages.
-gen.add("output_screen_messages"   ,   bool_t,  0, "if True => publishes the screen messages of velocity and other few things.", False)
-gen.add("conf_see_save_in_file", bool_t,  0, " bool to see save in file", False)
-gen.add("see_std_out_velocities",      bool_t,    0,   " true to see std_out mesages",   False)
-gen.add("see_std_out_mesages",      bool_t,    0,   " true to see std_out mesages",   False)
-#### SFM habilitate force markers ####
-gen.add("robot_goal_force_marker"       ,   bool_t,  0, "enable visualization of robot goal force marker", True)
-gen.add("robot_person_forces_marker"   ,     bool_t,  0, "enable visualization of robot person forces marker", True)
-gen.add("robot_obstacles_forces_marker",     bool_t,  0, "enable visualization of robot obstacles forces marker", True)
-gen.add("robot_resultant_force_marker" ,     bool_t,  0, "enable visualization of robot resultan force marker", True)
-gen.add("robot_companion_force_marker" ,     bool_t,  0, "enable visualization of robot resultan force marker", True)
+
 
 
 ####  Parameters to adapt the robot the accompaniment, distance between people and angle of accompaniment ####  
@@ -125,9 +111,9 @@ gen.add("distance_to_dynamic_goal_Vform",          double_t,   0,   "distance fr
 gen.add("Block_parameters_division7"                  , str_t,    0,  "Parameters to reduce the computational load due to obstacles:", "Parameters to reduce the computational load due to obstacles:")
 # distance arround the robot to detect obstacles and do not saturate the node.
 gen.add("detection_laser_obstacle_distances",   double_t,   0,   " distance to detect the laser obstacles (reduce the computaional time)", 4,      0.0,  20.0)
-# proximity distance between people and robot
-#  circle arround the robot to detect dynamic obstacles (other people, not companions).
-gen.add("radi_to_detect_other_people_no_companions",          double_t,   0,   " distancia entre robot y la primera persona que acompana. para pararse en el sitio cuando las personas se paran", 4,      0.0,  50.0)
+
+
+
 
 
 #### Parameters to adjust the robot's accelerations and velocities. Can be different for different robots.  ####
@@ -144,11 +130,16 @@ gen.add("av_break",          double_t,   0,   "robot minimum acceleration (break
 gen.add("aw_max",          double_t,   0,   "robot maximum angular acceleration", 0.9,      0.0,  5.0)
 
 
+gen.add("Block_parameters_divisionTest"                  , str_t,    0,  "Parameters to test good companion and outside velocities + frames", "Parameters to test good companion and outside velocities + frames:")
+gen.add("frame_map",                str_t,     0, "frame to transform poses to", "map")
+gen.add("frame_robot_footprint",    str_t,     0, "frame to transform poses to", "ana/base_link") 
+gen.add("fuera_bolitas_goals_companion_markers_conf",      bool_t,    0,   " Fuera bolas markers",   True)
+gen.add("conf_debug_all_IVO",      bool_t,    0,   " All mesagenes to debug IVO",   True)
+gen.add("conf_debug_few_IVO",      bool_t,    0,   " Only few velocity messages to debug IVO",   False)
+gen.add("external_goal",  bool_t,   0,   "Set a external goal or not (If you want to fix the robot goal manually in r-viz)", False) # esta puede hacerles valta
 
-#### Other needed variables that normally we do not have to change it.
-gen.add("Block_parameters_division9"                  , str_t,    0,  "Other parameters that are correctly set-up for all sistems, but it is better to keep here:", "Other parameters that are correctly set-up for all sistems, but it is better to keep here:")
-gen.add("move_base",        bool_t,    0,   "disabled filters cmd_vel and sends zeros", True)  # es para parar al robot.
-gen.add("frozen_mode",      bool_t,    0,   "Visualization freezed",                             False)
+#### Other needed variables that normally we do not have to change it. (TODO: ESTOS INTENTAR QUITARLOS)
+gen.add("Block_parameters_division9"                  , str_t,    0,  "Other parameters that are correctly set-up for all sistems, but I have not had time to include only internal ones or they are inherited and difficult to remove:", "Other parameters that are correctly set-up for all sistems, but I have not had time to include only internal ones or they are inherited and difficult to remove:")
 gen.add("plan_mode",        int_t,     0,   "#0-F_RRT_Uniform, #1-F_RRT_Gauss_Circle, #2-F_RRT_Gauss_Circle_alpha",  1,      0,  2)
 gen.add("distance_mode",    int_t,     0,   "#0-Euclidean, #1-cost-to-go-erf, #2-c2g-norm, #3-c2g-raw. It is recomnded not to use *erf/*norm methods and not using also *erf/*norm in the global mode, except for c2g-raw",      1,      0,  3)
 gen.add("global_mode",      int_t,     0,   "Designed to be paired with the distance_mode, although it may use a different global mode:#0-Scaliarization, #1-Weighted-sum-erf, #2-Weighted-sum-norm, #3-MO_erf, #4-MO_norm",      1,      0,  4)
@@ -175,7 +166,7 @@ gen.add("cost_l_minima", double_t,0,       "local minima scape cost paramter",
 
 
 #### dificiles/largas de quitar.
-gen.add("external_goal",  bool_t,   0,   "Set a external goal or not", False)
+
 gen.add("in_max_asos_point_to_person",           int_t,   0,   "detector de obstaculos maximo numero de puntos associados a persona", 100,      0,  1000)
 gen.add("set_initial_v_robot_needed_for_odom", double_t, 0, " set_initial_v_robot_needed_for_odom", 0.17 , 0.0, 30.0)
 #  change time vindow to calculate the people velocity (propagations)
@@ -190,6 +181,10 @@ gen.add("conf_final_max_v", double_t,   0,   "Is minimun velocity to change the
 #gen.add("use_default_PS3_button",  bool_t,   0,   " False to set out PS3 Up and down buttons", True)
 #gen.add("joy_watchdog_time",          double_t, 0, "Maximum time (seconds) between joy msgs",                 1.0, 0.1, 3.0)
 
+
+###PARAMETROS A ELIMINAR
+
+
 # end of SFM companion params
 exit(gen.generate(PACKAGE, "AkpLocalPlannerAlgorithm", "AkpLocalPlanner"))
 
diff --git a/config/IVO/akp_local_planner_params.yaml b/config/IVO/akp_local_planner_params.yaml
index 0ae23f7..5034e42 100644
--- a/config/IVO/akp_local_planner_params.yaml
+++ b/config/IVO/akp_local_planner_params.yaml
@@ -38,7 +38,7 @@ AkpLocalPlanner:
   esfm_to_obstacle_lambda: 1.0
   esfm_k: 2.3
   esfm_d: 0.2
-  min_v_to_predict : 0.1
+  min_v_to_predict : 0.2
   ppl_collision_mode : 0
   pr_force_mode : 0
   goal_providing_mode : 1
diff --git a/config/ana2/akp_local_planner_params.yaml b/config/ana2/akp_local_planner_params.yaml
index 758cf17..bb0892c 100644
--- a/config/ana2/akp_local_planner_params.yaml
+++ b/config/ana2/akp_local_planner_params.yaml
@@ -38,7 +38,7 @@ AkpLocalPlanner:
   esfm_to_obstacle_lambda: 1.0
   esfm_k: 2.3
   esfm_d: 0.2
-  min_v_to_predict : 0.1
+  min_v_to_predict : 0.2
   ppl_collision_mode : 0
   pr_force_mode : 0
   goal_providing_mode : 1
diff --git a/config/dabo/akp_local_planner_params.yaml b/config/dabo/akp_local_planner_params.yaml
index 5e477a9..52b966c 100644
--- a/config/dabo/akp_local_planner_params.yaml
+++ b/config/dabo/akp_local_planner_params.yaml
@@ -38,7 +38,7 @@ AkpLocalPlanner:
   esfm_to_obstacle_lambda: 1.0
   esfm_k: 2.3
   esfm_d: 0.2
-  min_v_to_predict : 0.1
+  min_v_to_predict : 0.2
   ppl_collision_mode : 0
   pr_force_mode : 0
   goal_providing_mode : 1
diff --git a/config/tibi/akp_local_planner_params.yaml b/config/tibi/akp_local_planner_params.yaml
index 5e477a9..52b966c 100644
--- a/config/tibi/akp_local_planner_params.yaml
+++ b/config/tibi/akp_local_planner_params.yaml
@@ -38,7 +38,7 @@ AkpLocalPlanner:
   esfm_to_obstacle_lambda: 1.0
   esfm_k: 2.3
   esfm_d: 0.2
-  min_v_to_predict : 0.1
+  min_v_to_predict : 0.2
   ppl_collision_mode : 0
   pr_force_mode : 0
   goal_providing_mode : 1
diff --git a/include/akp_local_planner_alg_node.h b/include/akp_local_planner_alg_node.h
index a6a13a7..220f1c9 100644
--- a/include/akp_local_planner_alg_node.h
+++ b/include/akp_local_planner_alg_node.h
@@ -372,8 +372,7 @@ class AkpLocalPlanner : public nav_core::BaseLocalPlanner
     bool test_with_2people_but_tibi_really_only_with_me_;
 
   	Cperson_abstract::companion_reactive reactive_;
-    // ely visualization bool variables (see forces)
-    bool robot_goal_force_marker, robot_person_forces_marker, robot_obstacles_forces_marker, robot_resultant_force_marker,      robot_companion_force_marker;
+
     
     bool debug_antes_subgoals_entre_AKP_goals_;
     //tf::TransformListener* tf_listener2_;
@@ -512,7 +511,6 @@ class AkpLocalPlanner : public nav_core::BaseLocalPlanner
 		double v_max_due_to_people_companion_;  //este limite lo hago en el nodo directamente, ya que es más restrictivo que el que hago interno de la V_max seada como valor maximo.
 		SpointV person_companion_position_, second_person_companion_position_;
 	
-		double radi_other_people_detection_;
 		double dist_betw_rob_and_comp_people_to_slow_velocity_;
 
 		double ros_max_real_speed_out_;
diff --git a/iri_robot_aspsi_how_to/instructions_for_IVO/Install_instructions_IVO_ONLY_one_person_ACCOMPANIMENT_ASPSI.odt b/iri_robot_aspsi_how_to/instructions_for_IVO/Install_instructions_IVO_ONLY_one_person_ACCOMPANIMENT_ASPSI.odt
index c1135e42355176542bafb01692e34786c73aa7b0..ca594e4c1b0afaeff321058cbc53cf8500b0fa03 100644
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diff --git a/src/akp_local_planner_alg_node.cpp b/src/akp_local_planner_alg_node.cpp
index db9b824..ca69522 100644
--- a/src/akp_local_planner_alg_node.cpp
+++ b/src/akp_local_planner_alg_node.cpp
@@ -52,7 +52,6 @@ AkpLocalPlanner::AkpLocalPlanner(void) :
  // change_ps3_config_(false),
   in_set_planner_dt_(0.2),
 	//use_default_PS3_button_(true),
-	radi_other_people_detection_(10),
 	dist_betw_rob_and_comp_people_to_slow_velocity_(2.0),
 	speed_k_(1),
 	stop_robot_manually_(true),
@@ -66,7 +65,9 @@ AkpLocalPlanner::AkpLocalPlanner(void) :
 	output_screen_messages_(false),
 	simulation_(false),
 	debug_all_IVO_(false),
-	debug_few_IVO_(false)
+	debug_few_IVO_(false),
+	see_std_out_velocities_ros_(false),
+	see_std_out_mesages_ros_(false)
 {
 
 ROS_INFO("CREATE ALG NODE");
@@ -463,6 +464,7 @@ bool AkpLocalPlanner::computeVelocityCommands(geometry_msgs::Twist& cmd_vel)
 	} //conf_dist_betw_rob_and_comp_people_to_slow_velocity
 //ROS_INFO("simulation_=%d; ",simulation_);
 	
+	//ROS_INFO("plan_mode=%d; distance_mode=%d; global_mode=%d; min_v_to_predict=%f; ppl_collision_mode=%d; pr_force_mode=%d ",plan_mode,distance_mode,global_mode,min_v_to_predict,ppl_collision_mode,pr_force_mode);
 		
 
 
@@ -651,12 +653,6 @@ bool AkpLocalPlanner::computeVelocityCommands(geometry_msgs::Twist& cmd_vel)
     			actual_person_comp1_pose=this->obs[u];
     		}
 
-    	}else if(this->robot_pose_.distance(actual_obs)<radi_other_people_detection_){ // coger a las demas personas, que esten a distancia menor que 10 m del robot.
-    		  this->obs2.push_back(this->obs[u]);
-
-    		  if(see_std_out_mesages_ros_){
-    			  ROS_INFO( "TRACKS EN AKP (Other people) => obs.id=%d; this->obs[%d].vx=%f; .vy=%f;   x=%f; .y=%f; ",this->obs[u].id,u,this->obs[u].vx,this->obs[u].vy, this->obs[u].x,this->obs[u].y);
-    		  }
     	}
 	}
 
@@ -1648,20 +1644,11 @@ ROS_INFO("AkpLocalPlanner::scan2points:transform: frame_map_: %s-->frame_robot_f
 		//ROS_INFO(" INI AkpLocalPlanner::reconfigureCallback (if !setup_)");
 
 		this->config_=config;
-		this->robot_goal_force_marker       = config.robot_goal_force_marker;
-		this->robot_person_forces_marker    = config.robot_person_forces_marker;
-		this->robot_obstacles_forces_marker = config.robot_obstacles_forces_marker;
-		this->robot_resultant_force_marker  = config.robot_resultant_force_marker;
-		this->config_=config;
+
 		default_config_ = config;
 		setup_ = true;
 		// change (ely) para puentear lo de move_base a true! (que me deje dar goals desde el principio!)
 
-		this->move_base = config.move_base;
-
-		if(debug_antes_subgoals_entre_AKP_goals_){
-		  std::cout << " AkpLocalPlanner::reconfigureCallback this->move_base ="<< this->move_base  << std::endl;
-		}
 		this->plan_mode_ = (Cplan_local_nav::plan_mode) config.plan_mode;
 		this->planner_.set_planning_mode(plan_mode_);
 		this->planner_.set_distance_mode((Cplan_local_nav::distance_mode)config.distance_mode );
@@ -1680,7 +1667,6 @@ ROS_INFO("AkpLocalPlanner::scan2points:transform: frame_map_: %s-->frame_robot_f
 								  config.cost_l_minima);
 		this->planner_.set_robot_params(config.v_max, config.w_max, config.av_max, config.av_break, config.aw_max, config.platform_radii, config.av_max_negativa, config.av_max_VrobotZero, config.lim_VrobotZero);
 		this->vis_mode_ = config.vis_mode;
-		this->frozen_mode_ = config.frozen_mode;
 		this->planner_.set_min_v_to_predict( config.min_v_to_predict );//Cscene_bhmip
 		this->planner_.set_ppl_collision_mode( config.ppl_collision_mode );
 		this->planner_.set_pr_force_mode( config.pr_force_mode );
@@ -1691,8 +1677,6 @@ ROS_INFO("AkpLocalPlanner::scan2points:transform: frame_map_: %s-->frame_robot_f
   {
  		//ROS_INFO(" INI AkpLocalPlanner::reconfigureCallback (if setup_)");
 
-		this->move_base = config.move_base;
-
 		if(debug_antes_subgoals_entre_AKP_goals_){
 			std::cout << " AkpLocalPlanner::reconfigureCallback this->move_base ="<< this->move_base  << std::endl;
 		}
@@ -1719,7 +1703,6 @@ ROS_INFO("AkpLocalPlanner::scan2points:transform: frame_map_: %s-->frame_robot_f
                                 config.cost_l_minima);
 		this->planner_.set_robot_params(config.v_max, config.w_max, config.av_max, config.av_break, config.aw_max, config.platform_radii,config.av_max_negativa,config.av_max_VrobotZero, config.lim_VrobotZero);
 		this->vis_mode_ = config.vis_mode;
-		this->frozen_mode_ = config.frozen_mode;
 		this->planner_.set_min_v_to_predict( config.min_v_to_predict );//Cscene_bhmip
 		this->planner_.set_ppl_collision_mode( config.ppl_collision_mode );
 		this->planner_.set_pr_force_mode( config.pr_force_mode );
@@ -1778,7 +1761,6 @@ ROS_INFO("AkpLocalPlanner::scan2points:transform: frame_map_: %s-->frame_robot_f
 
 	this->planner_.plan_set_initial_v_robot_needed(config.set_initial_v_robot_needed_for_odom);
 
-	radi_other_people_detection_=config.radi_to_detect_other_people_no_companions;
  	
 
 
@@ -1868,15 +1850,10 @@ ROS_INFO("AkpLocalPlanner::scan2points:transform: frame_map_: %s-->frame_robot_f
 
 	this->planner_.set_change_dynamic_of_final_dest(config.in_change_dynamically_final_dest);
 
-	see_std_out_mesages_ros_=config.see_std_out_mesages;
 
-	see_std_out_velocities_ros_=config.see_std_out_velocities;
-	this->planner_.set_see_std_out_velocities(config.see_std_out_velocities);
 
-	this->planner_.set_see_save_in_file(config.conf_see_save_in_file);
+
 	
-	output_screen_messages_=config.output_screen_messages;
-	this->planner_.set_output_screen_messages(config.output_screen_messages);
 
 	this->planner_.set_metros_al_dynamic_goal_Vform(config.distance_to_dynamic_goal_Vform);
 
@@ -2641,8 +2618,7 @@ void AkpLocalPlanner::fill_forces_markers()
 
 	//ROS_INFO("(ROS) 3 after  get_forces_person_companion ");
   //scaled force to goal: ( blue )
-  if(this->robot_goal_force_marker)
-  {
+
     if(debug_antes_subgoals_entre_AKP_goals_){
       ROS_INFO("(ROS) robot force goal");
       ROS_INFO("(ROS) ros_point_ini.x=%f",ros_point_ini.x);
@@ -2664,11 +2640,9 @@ void AkpLocalPlanner::fill_forces_markers()
     force_goal_marker_.id = cont_f;
     ++cont_f;
     MarkerArray_msg_.markers.push_back(  force_goal_marker_  );
-  }
+
 
   //scaled person interaction force (green)
-  if(this->robot_person_forces_marker)
-  { 
     if(debug_antes_subgoals_entre_AKP_goals_){
       ROS_INFO("(ROS) robot force person");
       ROS_INFO("(ROS) force_int_person.fx=%f",force_int_person.fx);
@@ -2682,11 +2656,9 @@ void AkpLocalPlanner::fill_forces_markers()
     force_int_person_marker_.id = cont_f;
     ++cont_f;
     MarkerArray_msg_.markers.push_back(  force_int_person_marker_  );
-  }
+
 
   //map obstacles interaction force (black)
-  if(this->robot_obstacles_forces_marker)
-  {
     if(debug_antes_subgoals_entre_AKP_goals_){
       ROS_INFO("(ROS) robot force obstacles");
     }
@@ -2698,11 +2670,9 @@ void AkpLocalPlanner::fill_forces_markers()
     force_obstacle_marker_.id = cont_f;
     ++cont_f;
     MarkerArray_msg_.markers.push_back(  force_obstacle_marker_  );
-  }
+
 
   //weighted resultant force (red)
-  if(this->robot_resultant_force_marker)
-  {
     force_marker_.points[0] = ros_point_ini;
     ros_point.x = ros_point_ini.x + 2*force_total.fx;
     ros_point.y = ros_point_ini.y + 2*force_total.fy;
@@ -2710,7 +2680,7 @@ void AkpLocalPlanner::fill_forces_markers()
     force_marker_.id = cont_f;
     ++cont_f;
     MarkerArray_msg_.markers.push_back(  force_marker_  );
-  }
+
   //scaled force to goal: ( Cian )
 	force_companion_marker_.points[0]= ros_point_ini;
 	ros_point.x = ros_point_ini.x + 2*force_companion.fx;
-- 
GitLab