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Trajectory Planner in Multi-Agent and Dynamic Environments

License: BSD 3-Clause "New" or "Revised" License

Shell 0.07% CMake 0.55% C++ 64.53% Mathematica 31.53% MATLAB 0.98% AMPL 0.36% Python 1.89% Dockerfile 0.10%

optimization path-planning trajectory-optimization multi-agent obstacle-avoidance minvo mader planner ros

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mader's Issues

single_agent_simulation

I can successfully make the package of mader， but when I run the follow cmd, I encountered a fetal problem.
roslaunch mader single_agent_simulation.launch

[SQ01s/mader-8] process has died [pid 30973, exit code -6, cmd /home/dzp/mader_ws/devel/lib/mader/mader_node ~state:=state ~who_plans:=who_plans ~term_goal:=term_goal ~traj:=traj ~goal:=goal ~setpoint:=setpoint __name:=mader __log:=/home/dzp/.ros/log/497f92e2-8a1f-11ee-bb0b-e89c257f2e5e/SQ01s-mader-8.log].
log file: /home/dzp/.ros/log/497f92e2-8a1f-11ee-bb0b-e89c257f2e5e/SQ01s-mader-8*.log

the input and output of mader

hello I have great interest in mader
so i want to know the input and output of mader in real world,such as depth image or lidar point cloud?

there is nothing in my terminal when i use docker

Hello, I followed the tutorial to simulate, but when I run it, my terminal doesn't seem to change? I'm not familiar with docker because docker doesn't have a visualization function. Here's what I've typed, along with feedback

Trajectory Generation done in Octopus Search

Hi,

Just wondering why the trajectories generated in octopus search does not actually reach the final end point?

Thanks!

parameters for goal reaching Paths

Hi,
Which parameters need to be modified to ensure that the algorithm consistently calculates a path that reaches the final goal?
( I'm using nlopt if it matters)
Thanks!

[Question] Are there any references to the basis transformations are calculated?

Hi there,

I checked https://github.com/mit-acl/minvo but could not find how these basis transformations were obtained

BSPLINE to MINVO POSITION

mader/mader/include/mader_types.hpp

Line 192 in 5e9fdf1

//////BSPLINE to MINVO POSITION/////////

BSPLINE to BEZIER POSITION

mader/mader/include/mader_types.hpp

Line 192 in 5e9fdf1

//////BSPLINE to MINVO POSITION/////////

if you can provide any hint, it would be great.

Thanks,

Issue with new version of GUROBI

Hi,
Thank you for this fantastic package.
I had the following error while running the package with ROS Noetic on Ubuntu 20.04.

Gurobi implementation of QCQP

Hi,

Firstly, thanks for this wonderful package. Upon looking into the codes, I realize that the Gurobi version does not implement the original QCQP problem introduced in the paper, but instead it uses the initial guesses of the plane parameters as constants. I would like to ask, is this purely for efficiency reasons, or it is because Gurobi is not capable of solving this type of problem? From Gurobi documentation it seems capable of solving QCQP, but it requires the problem to be convex.
Thank you!

Best Regards,
Mq

MADER code released

The code has just been released at https://github.com/mit-acl/mader

Using NLOPT optimizer

Hi,
I'm interested in running Mader with the NLOPT optimizer. Could you advise me on the most suitable commit version to use for this purpose? Your assistance would be greatly appreciated.
Best, Hadar.

[ROS Noetic/NLopt] This should never happen: All complete paths are guaranteed to be feasible

I encountered this issue when trying to run mader in ROS Noetic and NLopt (I have not tested any other version). This issue can be reproduced in docker, as follows:

Create an empty directory containing the dockerfile Dockerfile with this content:

FROM ros:noetic

RUN apt update
RUN apt install git -y

WORKDIR /home/src

RUN git clone https://github.com/mit-acl/mader.git --recursive
WORKDIR /home

RUN export DEBIAN_FRONTEND=noninteractive && rosdep install --from-paths src/mader --ignore-src -r -y --rosdistro noetic

RUN apt install python3-catkin-tools libgmp3-dev libmpfr-dev wget -y

#CGAL
RUN wget https://github.com/CGAL/cgal/releases/download/releases%2FCGAL-4.14.2/CGAL-4.14.2.tar.xz
RUN tar -xf CGAL-4.14.2.tar.xz
WORKDIR /home/CGAL-4.14.2
RUN cmake . -DCMAKE_BUILD_TYPE=Release
RUN make install
WORKDIR /home
RUN rm -rf CGAL-4.14.2 CGAL-4.14.2.tar.xz

#NLOPT
RUN wget https://github.com/stevengj/nlopt/archive/v2.6.2.tar.gz
RUN tar -xvzf v2.6.2.tar.gz
WORKDIR /home/nlopt-2.6.2
RUN cmake . && make install
WORKDIR /home
RUN rm -rf nlopt-2.6.2 v2.6.2.tar.gz

RUN . /opt/ros/noetic/setup.sh && catkin config -DCMAKE_BUILD_TYPE=Release && catkin build -DUSE_GUROBI=OFF

RUN apt install python-is-python3 ros-noetic-gazebo-msgs -y

In this directory, run docker build -t ros_mader . and afterwards run docker run -it ros_mader bash -c '. devel/setup.bash && roslaunch mader single_agent_simulation.launch'. This is the full logging output:

... logging to /root/.ros/log/f3df482a-6291-11ec-8558-0242ac110002/roslaunch-90861c4a2d98-1.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://90861c4a2d98:34169/

SUMMARY
========

PARAMETERS
 * /SQ01s/mader/Ra: 4.0
 * /SQ01s/mader/a_max: [20.0, 20.0, 9.6]
 * /SQ01s/mader/a_star_bias: 1.0
 * /SQ01s/mader/a_star_fraction_voxel_size: 0.5
 * /SQ01s/mader/a_star_samp_x: 5
 * /SQ01s/mader/a_star_samp_y: 5
 * /SQ01s/mader/a_star_samp_z: 5
 * /SQ01s/mader/allow_infeasible_guess: True
 * /SQ01s/mader/alpha: 0.0
 * /SQ01s/mader/alpha_filter_dyaw: 0
 * /SQ01s/mader/alpha_shrink: 0.95
 * /SQ01s/mader/basis: MINVO
 * /SQ01s/mader/beta: 0.0
 * /SQ01s/mader/color_type: vel
 * /SQ01s/mader/dc: 0.01
 * /SQ01s/mader/deg_pol: 3
 * /SQ01s/mader/dist_factor_alloc_close: 2.0
 * /SQ01s/mader/drone_radius: 0.05
 * /SQ01s/mader/epsilon_tol_constraints: 1e-06
 * /SQ01s/mader/factor_alloc: 1.0
 * /SQ01s/mader/factor_alloc_close: 1.5
 * /SQ01s/mader/factor_alpha: 1.5
 * /SQ01s/mader/fov_depth: 4.5
 * /SQ01s/mader/fov_horiz_deg: 100
 * /SQ01s/mader/fov_vert_deg: 100
 * /SQ01s/mader/ftol_rel: 1e-10
 * /SQ01s/mader/gamma: 0.1
 * /SQ01s/mader/goal_radius: 0.15
 * /SQ01s/mader/j_max: [30.0, 30.0, 30.0]
 * /SQ01s/mader/kappa: 0.4
 * /SQ01s/mader/lower_bound_runtime_snlopt: 0.05
 * /SQ01s/mader/mu: 0.4
 * /SQ01s/mader/n_agents: 16
 * /SQ01s/mader/num_pol: 4
 * /SQ01s/mader/res_plot_traj: 15.0
 * /SQ01s/mader/solver: LD_MMA
 * /SQ01s/mader/upper_bound_runtime_snlopt: 0.35
 * /SQ01s/mader/use_ff: True
 * /SQ01s/mader/v_max: [3.5, 3.5, 3.5]
 * /SQ01s/mader/visual: True
 * /SQ01s/mader/w_max: 2.5
 * /SQ01s/mader/weight: 1000.0
 * /SQ01s/mader/x_max: 10000000000.0
 * /SQ01s/mader/x_min: -1000000000.0
 * /SQ01s/mader/xtol_rel: 1e-13
 * /SQ01s/mader/y_max: 1000000000.0
 * /SQ01s/mader/y_min: -1000000000.0
 * /SQ01s/mader/z_max: 1000000000.0
 * /SQ01s/mader/z_min: -1000000000.0
 * /SQ01s/perfect_tracker/x: 0
 * /SQ01s/perfect_tracker/y: 0
 * /SQ01s/perfect_tracker/yaw: 0.0
 * /SQ01s/perfect_tracker/z: 1.0
 * /SQ01s/rosconsole_overlay_text/nodes: /SQ01s/mader
 * /SQ01s/rosconsole_overlay_text/reverse_lines: False
 * /rosdistro: noetic
 * /rosversion: 1.15.13

NODES
  /
    behavior_selector (behavior_selector/behavior_selector_node.py)
    dynamic_corridor (mader/dynamic_corridor.py)
    rviz (rviz/rviz)
  /SQ01s/
    mader (mader/mader_node)
    mader_commands (mader/mader_commands.py)
    perfect_tracker (mader/perfect_controller.py)
    rosconsole_overlay_text (jsk_rviz_plugins/rosconsole_overlay_text.py)
    vicon2world (tf/static_transform_publisher)

auto-starting new master
process[master]: started with pid [50]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to f3df482a-6291-11ec-8558-0242ac110002
process[rosout-1]: started with pid [60]
started core service [/rosout]
process[SQ01s/mader_commands-2]: started with pid [67]
process[SQ01s/vicon2world-3]: started with pid [68]
process[SQ01s/perfect_tracker-4]: started with pid [69]
process[behavior_selector-5]: started with pid [70]
process[rviz-6]: started with pid [76]
process[dynamic_corridor-7]: started with pid [77]
process[SQ01s/mader-8]: started with pid [78]
process[SQ01s/rosconsole_overlay_text-9]: started with pid [79]
qt.qpa.xcb: could not connect to display 
qt.qpa.plugin: Could not load the Qt platform plugin "xcb" in "" even though it was found.
This application failed to start because no Qt platform plugin could be initialized. Reinstalling the application may fix this problem.

Available platform plugins are: eglfs, linuxfb, minimal, minimalegl, offscreen, vnc, xcb.

Parameters obtained
Parameters obtained, checking them...
Parameters checked
In the SolverNlopt Constructor
initial_state= 
Pos, Vel, Accel, Jerk= -4  1 -2 -1.3  0.6  1.5 0 0 0 0 0 0
final_state= 
Pos, Vel, Accel, Jerk= 4 2 3 0 0 0 0 0 0 0 0 0
[NL] Running A* from-4  1 -2 to 4 2 3, allowing time = 0 ms
[A*] Running...
[A*] Max Runtime was reached
[A*] choosing closest complete path as solution
complete_closest_dist_so_far_= 1.27
velocity constraint for vi is not satisfied, i=0
N_=10
qa= -4  1 -2
qb= -4.17  1.08  -1.8
qc= -4.51  1.24 -1.41
qd= 4.35 1.47 2.31
Vbs= 
-1.3 -1.3 22.4
 0.6  0.6  0.6
 1.5  1.5 9.41
V_newbasis= 
-1.3 -1.3 22.4
 0.6  0.6  0.6
 1.5  1.5 9.41
v_max_= 
10
10
10
Using matrix 
1 0 0
0 1 0
0 0 1
velocity constraint for vi is not satisfied, i=1
N_=10
qa= -4.17  1.08  -1.8
qb= -4.51  1.24 -1.41
qc= 4.35 1.47 2.31
qd= 3.83 1.71  2.9
Vbs= 
-1.3 22.4 -1.3
 0.6  0.6  0.6
 1.5 9.41  1.5
V_newbasis= 
-1.3 22.4 -1.3
 0.6  0.6  0.6
 1.5 9.41  1.5
v_max_= 
10
10
10
Using matrix 
1 0 0
0 1 0
0 0 1
velocity constraint for vi is not satisfied, i=2
N_=10
qa= -4.51  1.24 -1.41
qb= 4.35 1.47 2.31
qc= 3.83 1.71  2.9
qd= 3.32 1.95  3.5
Vbs= 
22.4 -1.3 -1.3
 0.6  0.6  0.6
9.41  1.5  1.5
V_newbasis= 
22.4 -1.3 -1.3
 0.6  0.6  0.6
9.41  1.5  1.5
v_max_= 
10
10
10
Using matrix 
1 0 0
0 1 0
0 0 1
This should never happen: All complete paths are guaranteed to be feasible
=====================================================
[rviz-6] process has died [pid 76, exit code -6, cmd /opt/ros/noetic/lib/rviz/rviz -d /home/src/mader/mader/rviz_cfgs/mader.rviz __name:=rviz __log:=/root/.ros/log/f3df482a-6291-11ec-8558-0242ac110002/rviz-6.log].
log file: /root/.ros/log/f3df482a-6291-11ec-8558-0242ac110002/rviz-6*.log
********************************
['/home/src/mader/mader/scripts/dynamic_corridor.py', '80', '__name:=dynamic_corridor', '__log:=/root/.ros/log/f3df482a-6291-11ec-8558-0242ac110002/dynamic_corridor-7.log']
Starting perfect tracker node for: /SQ01s/
Starting behavior selector
80
[SQ01s/mader-8] process has died [pid 78, exit code -6, cmd /home/devel/lib/mader/mader_node ~state:=state ~who_plans:=who_plans ~term_goal:=term_goal ~traj:=traj ~goal:=goal ~setpoint:=setpoint __name:=mader __log:=/root/.ros/log/f3df482a-6291-11ec-8558-0242ac110002/SQ01s-mader-8.log].
log file: /root/.ros/log/f3df482a-6291-11ec-8558-0242ac110002/SQ01s-mader-8*.log

agent stuck at static obstacles

As shown in the figure, I have modified the dimensions of the static obstacles and the agents stuck in avoiding them. It seems the agents don't have the perception capabilities and straight goes towards the obstacles rather avoiding them. Can you please let me know if I am making any mistakes or if I need to change any parameters?

P.S. The dimension of the static obstacle is modified only in the class MovingForest initialization of the dynamic_forest.py script.
Thanks

Jerk bounds

Hi,

I was curious as to why you didn't add jerk bounds in the optimization formulation to further guarantee feasability. Is it possible with the current formulation? Am I missing something? Is the cost function minimizing the jerk sufficient?

Cheers,
CT

'snapstack_msgs.msg' file missing

I followed the setup steps in the description, however, an error occured when running 'bash src/mader/install_and_compile.sh'.

The error is :
'Could not find a package configuration file provided by "snapstack_msgs" with any of the following names:
snapstack_msgsConfig.cmake
snastack_msgs-config.cmake '

And this directly led to building failure of the package named "decomp_test_node"
Could anyone please help me with this one?

any real world or gazebo example available?

Hi,
I was wondering if this is repo is tested in the real world? or does it have a gazebo simulation example? @jtorde

thanks

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