cu-rrt-star component + closed-loop Rerun navigation demo - #2
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Scofield626 wants to merge 7 commits into
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cu-rrt-star component + closed-loop Rerun navigation demo#2Scofield626 wants to merge 7 commits into
Scofield626 wants to merge 7 commits into
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Same seeded RRT* task on two nodes: a quick policy (2 quanta, quality target) and a thorough one (24 quanta, stall bound). base() publishes the first path, each refine() runs one block of iterations and republishes only a shorter one.
write_path shortcuts the tree path instead of dropping its tail, so every published segment is collision free; a path that still does not fit is not published at all. gamma: 0.0 derives the rewiring constant from the free area, which lifts the thorough planner from q=0.90 to q=0.96. The example's self-check now runs as a test, and a planner node exposes a small debug state instead of its whole tree.
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Restructure of the anytime RRT* example (copper-project#1247) into a reusable component plus a visual example, for local testing before updating the upstream PR.
components/tasks/cu_rrt_star(cu-rrt-star) — the planner as a proper component:RrtStarPlanner(CuAnytimeTask) consumescu_rrt_star::PlanRequest, publishescu_rrt_star::PlanPath.[Obstacle; MAX_OBSTACLES = 16]), so the planner has no built-in map and a source can change it between jobs. Withgamma: 0.0the rewiring constant is derived per job from the map received.tests/rrt_star_tester.rs, socargo test -p cu-rrt-starstill exercises the full anytime runtime path in CI.examples/cu_anytime_rrt_star— closed-loop navigation demo using the component:NavSimadvances the robot along the newest published path and replans from the robot's current pose;RerunViewerdraws obstacles, robot + trail, goal, the current best path, and per-cycle quality/iteration curves.rate_target_hz: 20until Ctrl-C.To try it:
Headless: add
"rrd": "demo.rrd"to the viewer'sconfig:block to record to a file instead of spawning a viewer.Note:
cu-rrt-staris the first out-of-core crate implementingCuAnytimeTask; the trait is not in the prelude and much ofcutask_anytimeis#[doc(hidden)], so docs.rs links from the component point into a barely-surfaced API.