cu-rrt-star: anytime RRT* planner component, with a closed-loop example - #1247
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Scofield626 wants to merge 13 commits into
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cu-rrt-star: anytime RRT* planner component, with a closed-loop example#1247Scofield626 wants to merge 13 commits into
Scofield626 wants to merge 13 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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Collaborator
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Can we have a proper copper component for it? and add an example using it? |
Scofield626
changed the title
gbin
requested changes
Aug 4, 2026
| )] | ||
| pub struct Obstacle { | ||
| pub center: Point2, | ||
| pub radius: f32, |
| Default, Debug, Clone, Copy, PartialEq, Encode, Decode, Serialize, Deserialize, Reflect, | ||
| )] | ||
| pub struct Point2 { | ||
| pub x: f32, |
| #[derive( | ||
| Default, Debug, Clone, Copy, PartialEq, Encode, Decode, Serialize, Deserialize, Reflect, | ||
| )] | ||
| pub struct Point2 { |
Collaborator
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it cannot be unified with what we have as a standard struct?
| } | ||
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| impl Obstacle { | ||
| pub const fn new(center: Point2, radius: f32) -> Self { |
Collaborator
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is the algorithm mandate round obstacles?
| /// carries the one it must solve. | ||
| #[derive(Default, Debug, Clone, Encode, Decode, Serialize, Deserialize, Reflect)] | ||
| pub struct World { | ||
| pub width: f32, |
| pub world: World, | ||
| pub start: Point2, | ||
| pub goal: Point2, | ||
| pub seed: u64, |
Collaborator
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what is going on here? even with the explanation for the love of my life I don't understand why any random seed would land in a live message.
| pub iterations: u32, | ||
| pub tree_size: u32, | ||
| /// Nodes on the best path before it is shortcut for publication. | ||
| pub tree_path_len: u32, |
| let mut waypoints = [Point2::default(); MAX_WAYPOINTS]; | ||
| // A path too long to represent is not published: the output keeps | ||
| // the last valid one and a later quantum tries again. | ||
| if let Some(len) = planner.write_path(&mut waypoints) { |
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maybe: update the next output in place and just copy it last minute instead of a custom copy here ? (might save some copy time, do it only if it does)
| /// The fields are read through `Reflect`, which the compiler cannot see. | ||
| #[allow(dead_code)] | ||
| #[derive(Default, Debug, Reflect)] | ||
| pub struct PlannerDebugState { |
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is this for only when the debug feature is active?
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| ### Input and output | ||
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| - Input: `cu_rrt_star::PlanRequest` — the world (up to `MAX_OBSTACLES` (16) |
Collaborator
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templatign it to make it 2d and 3d would be difficult?
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An RRT* planner (Karaman and Frazzoli 2011, with the branch-and-bound pruning of the anytime RRT* from "Anytime ROS2: Timely Task Completion in Non-preemptible Robotic Systems", RTAS 2026) as the first real algorithm on
CuAnytimeTask.components/tasks/cu_rrt_star— the component.base()grows a tree until a first path; eachrefine()runs one block of iterations and republishes only a shorter path. Every published path is drivable as published. Quality is straight-line distance over path cost, so aquality_targetis portable between maps. Remote debug reads a small projection, not the tree.components/tasks/cu_rrt_star/tests— one application running the same planner under a quick (max_refines: 2,quality_target: 0.93) and a thorough (max_refines: 24,max_stall: 4) policy on the same seed, so the thorough path can never be longer.examples/cu_anytime_rrt_star— closed-loop navigation: a simulated robot patrols the depot map, replans from its live pose every copperlist, drawn in Rerun.11 tests cover the planner geometry, determinism, the anytime contract, and the dual-policy application run.