Skip to content

Remove unused params #15

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
suchetanrs merged 2 commits into from
Oct 12, 2025
Merged

Remove unused params #15

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
b281285
Remove unused params
suchetanrs Oct 12, 2025
cb8008f
Remove unused params from sanity check
suchetanrs Oct 12, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 0 additions & 4 deletions roadmap_explorer/params/exploration_params.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -42,10 +42,6 @@ roadmap_explorer_node:
add_yaw_to_tsp: false
add_distance_to_robot_to_tsp: false

goalHysteresis:
use_euclidean_distance: false
use_roadmap_planner_distance: true

explorationBT:
bt_sleep_ms: 70
exploration_boundary: [310.0, 260.0, 310.0, -120.0, -70.0, -120.0, -70.0, 260.0]
Expand Down
4 changes: 0 additions & 4 deletions roadmap_explorer/params/tb3_exploration_params.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -42,10 +42,6 @@ roadmap_explorer_node:
add_yaw_to_tsp: false
add_distance_to_robot_to_tsp: false

goalHysteresis:
use_euclidean_distance: false
use_roadmap_planner_distance: true

explorationBT:
bt_sleep_ms: 70
exploration_boundary: [310.0, 260.0, 310.0, -120.0, -70.0, -120.0, -70.0, 260.0]
Expand Down
2 changes: 1 addition & 1 deletion roadmap_explorer/src/ExplorationBT.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -85,7 +85,7 @@ bool RoadmapExplorationBT::incrementFrontierSearchDistance()
double increment_value = parameterInstance.getValue<double>("frontierSearch.increment_search_distance_by");
LOG_WARN("Incrementing frontier search distance by " << increment_value);
auto distance_to_set = current_frontier_search_distance + increment_value;
if (distance_to_set > parameterInstance.getValue<double>("frontierSearch.max_permissible_frontier_search_distance")) {
if (distance_to_set > parameterInstance.getValue<double>("frontierSearch.max_permissable_frontier_search_distance")) {
return false;
}
blackboard->set<double>("current_frontier_search_distance", distance_to_set);
Expand Down
25 changes: 1 addition & 24 deletions roadmap_explorer/src/Parameters.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -92,19 +92,6 @@ void ParameterHandler::makeParameters(std::shared_ptr<nav2_util::LifecycleNode>
parameter_map_["fullPathOptimizer.add_distance_to_robot_to_tsp"] = node->get_parameter(
"fullPathOptimizer.add_distance_to_robot_to_tsp").as_bool();

// --- goalHysteresis ---
nav2_util::declare_parameter_if_not_declared(
node, "goalHysteresis.use_euclidean_distance", rclcpp::ParameterValue(
false));
nav2_util::declare_parameter_if_not_declared(
node, "goalHysteresis.use_roadmap_planner_distance", rclcpp::ParameterValue(
true));

parameter_map_["goalHysteresis.use_euclidean_distance"] = node->get_parameter(
"goalHysteresis.use_euclidean_distance").as_bool();
parameter_map_["goalHysteresis.use_roadmap_planner_distance"] = node->get_parameter(
"goalHysteresis.use_roadmap_planner_distance").as_bool();

// --- explorationBT ---
nav2_util::declare_parameter_if_not_declared(
node, "explorationBT.bt_sleep_ms", rclcpp::ParameterValue(
Expand Down Expand Up @@ -189,17 +176,7 @@ void ParameterHandler::makeParameters(std::shared_ptr<nav2_util::LifecycleNode>

void ParameterHandler::sanityCheckParameters()
{
if (getValue<bool>("goalHysteresis.use_euclidean_distance") == true &&
getValue<bool>("goalHysteresis.use_roadmap_planner_distance") == true)
{
throw RoadmapExplorerException(
"Both use_euclidean_distance and use_roadmap_planner_distance are set to true. Please set only one of them to true.");
} else if (getValue<bool>("goalHysteresis.use_euclidean_distance") == false &&
getValue<bool>("goalHysteresis.use_roadmap_planner_distance") == false)
{
throw RoadmapExplorerException(
"Both use_euclidean_distance and use_roadmap_planner_distance are set to false. Please set only one of them to true.");
}
// currently there are no sanity checks
}

rcl_interfaces::msg::SetParametersResult ParameterHandler::dynamicReconfigureCallback(
Expand Down
1 change: 1 addition & 0 deletions roadmap_explorer/src/bt_plugins/SearchForFrontiersPlugin.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,7 @@ namespace roadmap_explorer
LOG_INFO("Using robot pose: " << robotP.pose.position.x << ", " << robotP.pose.position.y);
std::vector<FrontierPtr> frontier_list;
auto current_frontier_search_distance = config().blackboard->get<double>("current_frontier_search_distance");
LOG_HIGHLIGHT("Current frontier search distance: " << current_frontier_search_distance);
auto searchResult = frontierSearchPtr_->searchFrom(robotP.pose.position, frontier_list, current_frontier_search_distance);
if (searchResult != FrontierSearchResult::SUCCESSFUL_SEARCH)
{
Expand Down