A SeReST (Smooth Error-Responsive Speed and Turning) controller for path tracking.
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
| Distribution | Status |
|---|---|
| humble |  |
| jazzy |  |
| kilted |  |
| rolling |  |
- Plugin Name:
easynav_serest_controller/SerestController - Type:
easynav::SerestController - Base Class:
easynav::ControllerMethodBase - Library:
easynav_serest_controller - Description: A SeReST (Smooth Error-Responsive Speed and Turning) controller for path tracking.
All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_serest_controller/SerestController/....
This plugin derives from
easynav::ControllerMethodBase.
See that section for shared collision-checking parameters and debug markers common to all controllers.
| Name | Type | Default | Description |
|---|---|---|---|
<plugin>.a_acc |
double |
0.8 |
Comfortable forward acceleration (m/s²). |
<plugin>.a_brake |
double |
1.2 |
Comfortable braking deceleration (m/s²). |
<plugin>.a_lat_max |
double |
1.5 |
Maximum lateral acceleration (m/s²). |
<plugin>.a_lat_soft |
double |
1.1 |
Soft lateral acceleration bound (m/s²). |
<plugin>.allow_reverse |
bool |
false |
Allow reversing when beneficial. |
<plugin>.apex_ey_des |
double |
0.05 |
Desired lateral error at apex for shaping (m). |
<plugin>.blend_base |
double |
0.6 |
Base blending factor for curvature tracking. |
<plugin>.blend_k_per_v |
double |
0.6 |
Additional blending proportional to speed. |
<plugin>.corner_boost_omega |
double |
0.8 |
Omega boost when cornering. |
<plugin>.corner_gain_eth |
double |
0.7 |
Cornering gain for heading error. |
<plugin>.corner_gain_ey |
double |
1.5 |
Cornering gain for lateral error. |
<plugin>.corner_gain_kappa |
double |
0.4 |
Cornering gain for curvature error. |
<plugin>.corner_guard_enable |
bool |
true |
Enable cornering guard logic. |
<plugin>.corner_min_alpha |
double |
0.35 |
Minimum blending near corners. |
<plugin>.d0_margin |
double |
0.30 |
Base obstacle clearance margin (m). |
<plugin>.d_hard |
double |
0.20 |
Hard-stop distance threshold (m). |
<plugin>.dist_search_radius |
double |
2.0 |
Search radius when matching to path (m). |
<plugin>.ell |
double |
`` | Lookahead distance (m). |
<plugin>.eps |
double |
1e-3 |
Small epsilon to avoid division by zero. |
<plugin>.final_align_k |
double |
2.0 |
Gain used during final alignment. |
<plugin>.final_align_wmax |
double |
0.6 |
Max angular speed during final alignment (rad/s). |
<plugin>.goal_pos_tol |
double |
0.05 |
Goal position tolerance (m). |
<plugin>.goal_yaw_tol_deg |
double |
5.0 |
Goal yaw tolerance (degrees). |
<plugin>.k_s |
double |
`` | Gain on progress along path (s). |
<plugin>.k_s_share_max |
double |
0.5 |
Max share of speed from s-progress term. |
<plugin>.k_theta |
double |
`` | Heading error gain. |
<plugin>.k_y |
double |
`` | Lateral error gain. |
<plugin>.kappa_max |
double |
2.5 |
Maximum allowed curvature (1/m). |
<plugin>.max_angular_acc |
double |
2.0 |
Angular acceleration limit (rad/s²). |
<plugin>.max_angular_speed |
double |
1.5 |
Angular speed limit (rad/s). |
<plugin>.max_linear_acc |
double |
0.8 |
Linear acceleration limit (m/s²). |
<plugin>.max_linear_speed |
double |
0.6 |
Speed limit (m/s). |
<plugin>.slow_min_speed |
double |
0.03 |
Minimum speed within slow zone (m/s). |
<plugin>.slow_radius |
double |
0.60 |
Radius to start slowing down near goal (m). |
<plugin>.t_emerg |
double |
0.25 |
Emergency stop time horizon (s). |
<plugin>.tau_latency |
double |
0.10 |
Actuation latency (s). |
<plugin>.v_progress_min |
double |
0.05 |
Minimum forward speed to ensure progress (m/s). |
<plugin>.v_ref |
double |
0.6 |
Nominal reference speed (m/s). |
This controller communicates through NavState (no direct ROS topics in this plugin).
This package does not create service servers or clients.
| Key | Type | Access | Notes |
|---|---|---|---|
path |
nav_msgs::msg::Path |
Read | Reference path. |
robot_pose |
nav_msgs::msg::Odometry |
Read | Robot odometry. |
points |
PointPerceptions |
Read | Obstacle point cloud(s). |
closest_obstacle_distance |
double |
Read | Precomputed dynamic obstacle metric. |
cmd_vel |
geometry_msgs::msg::TwistStamped |
Write | Commanded velocity. |
serest.debug.e_y |
double/int |
Write | Debug metric |
serest.debug.e_theta |
double/int |
Write | Debug metric |
serest.debug.kappa_hat |
double/int |
Write | Debug metric |
serest.debug.d_closest |
double/int |
Write | Debug metric |
serest.debug.v_safe |
double/int |
Write | Debug metric |
serest.debug.v_curv |
double/int |
Write | Debug metric |
serest.debug.alpha |
double/int |
Write | Debug metric |
serest.debug.allow_reverse |
double/int |
Write | Debug metric |
serest.debug.dist_to_end |
double/int |
Write | Debug metric |
serest.debug.goal.dist_xy |
double/int |
Write | Debug metric |
serest.debug.goal.gamma_slow |
double/int |
Write | Debug metric |
serest.debug.goal.in_final_align |
double/int |
Write | Debug metric |
serest.debug.goal.arrived |
double/int |
Write | Debug metric |
This controller reads pose from nav_msgs/Odometry (NavState key robot_pose). TF is not directly used in this plugin.
Apache-2.0