添加动态障碍物一卡一卡

[pangxiansen123]

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您好，感谢你的开源，我在使用中遇到一个问题，静态png障碍物还很流畅，但是添加动态障碍物就很卡，明显的激光雷达掉帧。我的配置如下：

world:
  height: 50
  width: 50
  obstacle_map: 
    name: image
    path: 'cave.png' 
    resolution: 0.2
  mdownsample: 2

robot:
  - kinematics: {name: 'omni_angular'}
    shape: {name: 'rectangle', length: 0.90, width: 0.60}
    state: [5, 5, 0]
    goal: [40, 40, 0]
    goals:
      - [40, 40, 0]
      - [40, 15, 0]
      - [10, 43, 0]
      - [35, 40, 0]
      - [20, 20, 0]
      - [20, 40, 0]
      - [4 , 25, 0]
      - [46, 33, 0]
      - [18, 45, 0]
    goal_threshold: 0.25
    vel_max: [1.5, 0.8, 0.8]
    vel_min: [-1.5, -0.8, -0.8]
    plot:
      show_trail: true
      show_trajectory: true
    sensors:
      - name: 'lidar2d'
        range_min: 0.0
        range_max: 30.0
        angle_range: 6.2
        number: 360
        noise: false
        alpha: 0.3

obstacle:
  - shape: {name: 'linestring', vertices: [[0, 0], [0, 50], [50, 50], [50, 0], [0, 0]]}
    state: [0, 0, 0]
  - kinematics: {name: 'omni'}
    shape: {name: 'circle', radius_range: [0.3, 0.5], random_shape: True}
    state: [30, 10, 0]
    goal: [5, 5, 0]
    behavior: {name: 'rvo', wander: false, loop: true, range_low: [8, 8, -3.14], range_high: [42, 20, 3.14], vxmax: 0.5, vymax: 0.5, factor: 3.0}
    vel_max: [0.5, 0.5]
    vel_min: [-0.5, -0.5]
    color: 'red'
    plot: {show_trajectory: false, show_goal: false}

  - kinematics: {name: 'omni'}
    shape: {name: 'circle', radius_range: [0.3, 0.5], random_shape: True}
    state: [17, 25, 0]
    goal: [17, 45, 0]
    behavior: {name: 'rvo', wander: false, loop: true, range_low: [15, 20, -3.14], range_high: [30, 42, 3.14], vxmax: 0.6, vymax: 0.6, factor: 3.0}
    vel_max: [0.6, 0.6]
    vel_min: [-0.6, -0.6]
    color: 'orange'
    plot: {show_trajectory: false, show_goal: false}

  - kinematics: {name: 'omni'}
    shape: {name: 'circle', radius_range: [0.3, 0.5], random_shape: True}
    state: [33, 35, 0]
    goal: [46, 46, 0]
    behavior: {name: 'rvo', wander: false, loop: true, range_low: [30, 30, -3.14], range_high: [48, 48, 3.14], vxmax: 0.3, vymax: 0.3, factor: 3.0}
    vel_max: [0.3, 0.3]
    vel_min: [-0.3, -0.3]
    color: 'purple'
    plot: {show_trajectory: false, show_goal: false}

  - kinematics: {name: 'omni'}
    shape: {name: 'circle', radius_range: [0.3, 0.5], random_shape: True}
    state: [12, 41, 0]
    goal: [18, 42, 0]
    behavior: {name: 'rvo', wander: false, loop: true, range_low: [8, 8, -3.14], range_high: [42, 42, 3.14], vxmax: 0.9, vymax: 0.9, factor: 3.0}
    vel_max: [0.9, 0.9]
    vel_min: [-0.9, -0.9]
    color: 'cyan'
    plot: {show_trajectory: false, show_goal: false}

  - kinematics: {name: 'omni'}
    shape: {name: 'circle', radius_range: [0.3, 0.5], random_shape: True}
    state: [22, 7, 0]
    goal: [2, 7, 0]
    behavior: {name: 'rvo', wander: false, loop: true, range_low: [8, 3, -3.14], range_high: [42, 42, 3.14], vxmax: 0.8, vymax: 0.8, factor: 3.0}
    vel_max: [0.8, 0.8]
    vel_min: [-0.8, -0.8]
    color: 'green'
    plot: {show_trajectory: false, show_goal: false}

  - kinematics: {name: 'omni'}
    shape: {name: 'polygon', random_shape: true, avg_radius_range: [0.5, 0.8], irregularity_range: [0, 0.35], spikeyness_range: [0, 0.35], num_vertices_range: [4, 6]}
    state: [5, 10, 0]
    goal: [35, 5, 0]
    behavior: {name: 'rvo', wander: false, loop: true, range_low: [3, 3, -3.14], range_high: [20, 42, 3.14], vxmax: 0.6, vymax: 0.6, factor: 3.0}
    vel_max: [0.6, 0.6]
    vel_min: [-0.6, -0.6]
    color: 'blue'
    plot: {show_trajectory: false, show_goal: false}

  - kinematics: {name: 'omni'}
    shape: {name: 'polygon', random_shape: true, avg_radius_range: [0.5, 0.8], irregularity_range: [0, 0.35], spikeyness_range: [0, 0.35], num_vertices_range: [4, 6]}
    state: [25, 35, 0]
    goal: [17, 36, 0]
    behavior: {name: 'rvo', wander: false, loop: true, range_low: [8, 8, -3.14], range_high: [42, 42, 3.14], vxmax: 0.45, vymax: 0.45, factor: 3.0}
    vel_max: [0.45, 0.45]
    vel_min: [-0.45, -0.45]
    color: 'yellow'
    plot: {show_trajectory: false, show_goal: false}

  - kinematics: {name: 'omni'}
    shape: {name: 'polygon', random_shape: true, avg_radius_range: [0.5, 0.8], irregularity_range: [0, 0.35], spikeyness_range: [0, 0.35], num_vertices_range: [4, 6]}
    state: [18, 48, 0]
    goal: [40, 48, 0]
    behavior: {name: 'rvo', wander: false, loop: true, range_low: [8, 8, -3.14], range_high: [49, 49, 3.14], vxmax: 0.3, vymax: 0.3, factor: 3.0}
    vel_max: [0.3, 0.3]
    vel_min: [-0.3, -0.3]
    color: 'brown'
    plot: {show_trajectory: false, show_goal: false}

  - kinematics: {name: 'omni'}
    shape: {name: 'polygon', random_shape: true, avg_radius_range: [0.5, 0.8], irregularity_range: [0, 0.35], spikeyness_range: [0, 0.35], num_vertices_range: [4, 6]}
    state: [6, 35, 0]
    goal: [6, 25, 0]
    behavior: {name: 'rvo', wander: false, loop: true, range_low: [3, 3, -3.14], range_high: [42, 42, 3.14], vxmax: 0.9, vymax: 0.9, factor: 3.0}
    vel_max: [0.9, 0.9]
    vel_min: [-0.9, -0.9]
    color: 'pink'
    plot: {show_trajectory: false, show_goal: false}

  - kinematics: {name: 'omni'}
    shape: {name: 'polygon', random_shape: true, avg_radius_range: [0.5, 0.8], irregularity_range: [0, 0.35], spikeyness_range: [0, 0.35], num_vertices_range: [4, 6]}
    state: [36, 12, 0]
    goal: [45, 15, 0]
    behavior: {name: 'rvo', wander: false, loop: true, range_low: [6, 6, -3.14], range_high: [42, 42, 3.14], vxmax: 0.8, vymax: 0.8, factor: 3.0}
    vel_max: [0.8, 0.8]
    vel_min: [-0.8, -0.8]
    color: 'gray'
    plot: {show_trajectory: false, show_goal: false}

就算使用一个动态障碍物也是这种情况

[pangxiansen123]

lidar2d.py
我改正了一下，可以顺滑执行，不知道是对是错

[hanruihua]

需要提供对应的python脚本和yaml 能够复现这一bug才好解决，同时要注明ir-sim的版本。

[hanruihua]

Hi, @pangxiansen123 , thanks for pointing out the issue; it is now fixed by PR #332. The lidar put the map linestrings and the obstacle polygons into one difference() call, which GEOS runs slowly. The map linestrings and the obstacle polygons are now subtracted as two separate groups, so the scan result is unchanged but runs about 2x faster.

You can try PR #332 and see if the stutter is solved.

---

你好，感谢指出问题，目前这一问题已经被PR #332修复， 之前lidar 把地图 linestrings 和障碍物 polygons 放进一次 difference() 里相减，GEOS 处理很慢。现在地图 linestrings 和障碍物 polygons 改成两组分别相减，扫描结果不变 但运行速度快约 2 倍。

可以试一下 PR #332，看看卡顿是否解决。