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parallelize costmap bound updates #2393

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parallelize costmap bound updates #2393

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892ead2
parallelize costmap bound updates
simutisernestas Jun 7, 2021
c2bf850
remove whitespaces from cmake
simutisernestas Jun 8, 2021
e7323cb
separate parallel block for plugins & threads
simutisernestas Jun 11, 2021
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7 changes: 7 additions & 0 deletions nav2_costmap_2d/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,13 @@ find_package(angles REQUIRED)
remove_definitions(-DDISABLE_LIBUSB-1.0)
find_package(Eigen3 REQUIRED)

find_package(OpenMP)
if(OPENMP_FOUND)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
endif()

nav2_package()

include_directories(
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76 changes: 46 additions & 30 deletions nav2_costmap_2d/src/layered_costmap.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,7 @@
#include <string>
#include <vector>
#include <limits>
#include <omp.h>

#include "nav2_costmap_2d/footprint.hpp"

Expand Down Expand Up @@ -145,40 +146,55 @@ void LayeredCostmap::updateMap(double robot_x, double robot_y, double robot_yaw)
minx_ = miny_ = std::numeric_limits<double>::max();
maxx_ = maxy_ = std::numeric_limits<double>::lowest();

for (vector<std::shared_ptr<Layer>>::iterator plugin = plugins_.begin();
plugin != plugins_.end(); ++plugin)
int n_cores = omp_get_num_procs();
int n_plugin_threads = std::max(std::min((int)plugins_.size(), n_cores), 1);
int n_filter_threads = std::max(std::min((int)filters_.size(), n_cores), 1);

#pragma omp parallel reduction(min:minx_) reduction(min: miny_) \
reduction(max: maxx_) reduction(max: maxy_) num_threads(n_plugin_threads)
{
double prev_minx = minx_;
double prev_miny = miny_;
double prev_maxx = maxx_;
double prev_maxy = maxy_;
(*plugin)->updateBounds(robot_x, robot_y, robot_yaw, &minx_, &miny_, &maxx_, &maxy_);
if (minx_ > prev_minx || miny_ > prev_miny || maxx_ < prev_maxx || maxy_ < prev_maxy) {
RCLCPP_WARN(
rclcpp::get_logger(
"nav2_costmap_2d"), "Illegal bounds change, was [tl: (%f, %f), br: (%f, %f)], but "
"is now [tl: (%f, %f), br: (%f, %f)]. The offending layer is %s",
prev_minx, prev_miny, prev_maxx, prev_maxy,
minx_, miny_, maxx_, maxy_,
(*plugin)->getName().c_str());
#pragma omp for nowait schedule(auto)
for (vector<std::shared_ptr<Layer>>::iterator plugin = plugins_.begin();
plugin != plugins_.end(); ++plugin)
{
double prev_minx = minx_;
double prev_miny = miny_;
double prev_maxx = maxx_;
double prev_maxy = maxy_;
(*plugin)->updateBounds(robot_x, robot_y, robot_yaw, &minx_, &miny_, &maxx_, &maxy_);
if (minx_ > prev_minx || miny_ > prev_miny || maxx_ < prev_maxx || maxy_ < prev_maxy) {
RCLCPP_WARN(
rclcpp::get_logger(
"nav2_costmap_2d"), "Illegal bounds change, was [tl: (%f, %f), br: (%f, %f)], but "
"is now [tl: (%f, %f), br: (%f, %f)]. The offending layer is %s",
prev_minx, prev_miny, prev_maxx, prev_maxy,
minx_, miny_, maxx_, maxy_,
(*plugin)->getName().c_str());
}
}
}
for (vector<std::shared_ptr<Layer>>::iterator filter = filters_.begin();
filter != filters_.end(); ++filter)

#pragma omp parallel reduction(min:minx_) reduction(min: miny_) \
reduction(max: maxx_) reduction(max: maxy_) num_threads(n_filter_threads)
{
double prev_minx = minx_;
double prev_miny = miny_;
double prev_maxx = maxx_;
double prev_maxy = maxy_;
(*filter)->updateBounds(robot_x, robot_y, robot_yaw, &minx_, &miny_, &maxx_, &maxy_);
if (minx_ > prev_minx || miny_ > prev_miny || maxx_ < prev_maxx || maxy_ < prev_maxy) {
RCLCPP_WARN(
rclcpp::get_logger(
"nav2_costmap_2d"), "Illegal bounds change, was [tl: (%f, %f), br: (%f, %f)], but "
"is now [tl: (%f, %f), br: (%f, %f)]. The offending filter is %s",
prev_minx, prev_miny, prev_maxx, prev_maxy,
minx_, miny_, maxx_, maxy_,
(*filter)->getName().c_str());
#pragma omp for nowait schedule(auto)
for (vector<std::shared_ptr<Layer>>::iterator filter = filters_.begin();
filter != filters_.end(); ++filter)
{
double prev_minx = minx_;
double prev_miny = miny_;
double prev_maxx = maxx_;
double prev_maxy = maxy_;
(*filter)->updateBounds(robot_x, robot_y, robot_yaw, &minx_, &miny_, &maxx_, &maxy_);
if (minx_ > prev_minx || miny_ > prev_miny || maxx_ < prev_maxx || maxy_ < prev_maxy) {
RCLCPP_WARN(
rclcpp::get_logger(
"nav2_costmap_2d"), "Illegal bounds change, was [tl: (%f, %f), br: (%f, %f)], but "
"is now [tl: (%f, %f), br: (%f, %f)]. The offending filter is %s",
prev_minx, prev_miny, prev_maxx, prev_maxy,
minx_, miny_, maxx_, maxy_,
(*filter)->getName().c_str());
}
}
}

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