Run instructions and input data

[steenax86]

Hi Karl,

Do you have a set of instructions to run the hybrid astar? What data does it operate on? Do you have performance numbers (run time) for the algorithm?

Thanks in advance!

[karlkurzer]

Hey Steena,

you should be able to launch it using roslaunch hybrid_astar manual.launch. It operates on a 2D obstacle grid, and it runs with approximately 10 Hz. Let me know, if you have any further questions :-)

[steenax86]

Thanks, Karl!

It does not seem to like the manual.launch file, and gives the following error:

Invalid roslaunch XML syntax: not well-formed (invalid token): line 1, column 0

I eliminated the XML comment line, but it still complains. Have you had this happen?

Thanks!

[karlkurzer]

Hey Steena, no this does not really ring a bell. I'd suggest that you start up the nodes in separate terminals then, the launch file is really for convenience only.

[steenax86]

Hey Karl, Thanks! I am having some issues with the DNS on the server, and hence getting ROS to work. I will try this out shortly.

Do you have an estimate of the execution time of the algorithm after the collision look up table is built?

Thanks in advance.

[Forrest-Z]

Hello, do you use the png diagram under ROS with size restrictions? An error occurs when I use a 500 * 500 pixel image and cellsize 0.2CM

[karlkurzer]

@Forrest-Z please take a look at this file/line

path_planner/include/constants.h

Line 77 in 43e78d5

static const float cellSize = 1;

tbh. I never used it with grids smaller grid cells smaller than 0.5m. However, it should be possible, potentially some adjustments need to be made I believe to other parts of the algorithm though. @steenax86, if you guys find issues wit the code, or areas of improvement feel free to create merge requests :-)

[Forrest-Z]

thank you. now I can run the program in 0.2m grid cell , but I got another problem:

1. When I change the grid cell to 0.2m , path planning didn't always succeed ,sometimes just planned part of it.
2. I change the vehicle width , length and minimum turning radiu , so should I need to made some adjustments in the program.

[karlkurzer]

@Forrest-Z take a look here: https://github.com/karlkurzer/path_planner/blob/master/src/node3d.cpp#L13 I never made the action space adaptive given the grid size, so that could be the issue, if you got a nice fix, feel free to push it :-)

[Forrest-Z]

How are these values calculated in https://github.com/karlkurzer/path_planner/blob/master/src/node3d.cpp#L13 ?

[karlkurzer]

It's a forward simulation of the vehicle driving on a circle with the maximum turning radius and a desired change in angle (heading: theta) as well as the trivial case of no turning at all.

[k0suke-murakami]

Hi, I am trying to launch your codes. It seems like codes run without any errors but showing noting in the screen. Could you tell me how I run the demo?

[karlkurzer]

You could create a path by specifying a start and an end pose, after that add the respective topics being published to Rviz. I hope that helps.

[toby4548]

@cirpue49 In case you still stuck with it, you can find the instruction in the master branch now.

[toby4548]

@karlkurzer I forgot to add another dependency, which is the map-server(http://wiki.ros.org/map_server). Can you add it in the README.md?

[karlkurzer]

@toby4548 thanks again, and done ;-)

[toby4548]

@karlkurzer You are welcome. Thank you for your amazing work. I hope more people will benefit from it 👍

[YerikYuan]

@Forrest-Z Hi, buddy, have you successfully changed the cellsize to 0.2m? I tried to change the path_planner/include/constants.h file to
static const float cellSize = 0.5;
remake and relauch.
The result turned out that, I can not set a start position by RViz, I don't know what happened.
The initial point of path planning can not be set. Do you know any other related change that I need to make?

Thank you.

[emanuelebeliart]

Dear @karlkurzer first of all nice job, i'd like to know if anyone have resolved the issue of cellSize?

thanks

[tranducthuan1]

Hi everyone, does anyone have resolved the issue of cellSize

[takeoffstd]

Hi @karlkurzer ,I have a questions about bbSize.

path_planner/include/constants.h

Line 118 in 3d9ec01

static const int bbSize = std::ceil((sqrt(width * width + length* length) + 4) / cellSize);

sqrt(width * width + length* length) means the diagonal length of the vehicle, the value is 4. what the +4 means?
Looking forward your answer, Thanks.

[karlkurzer]

This is the bounding box of the vehicle the plus 4 is a safety term ensuring that the entire vehicle is covered for all headings.

[hebingliu-5]

can you explain how to caculate the value of dx[] ,dy[] in node3D

[zly7]

Hi everyone, does anyone have resolved the issue of cellSize
I'd like to bring to attention that the 'cellSize' issue is still ongoing. It seems to be a persistent challenge for many users, and addressing it could significantly enhance the user experience. I understand that resolving such issues can be complex, and I appreciate all the effort put into maintaining and improving this software.

If there's any additional information or testing required to help diagnose or fix the problem, I, along with many others in the community, would be more than willing to contribute. This feature is crucial for several of our projects, and a timely resolution would be immensely beneficial.

Thank you for your continuous support and dedication to improving this tool. Looking forward to any updates or suggestions on how we can assist in this matter