Nav Inward Spiraling + GUI Coverage Radius by a3801749 · Pull Request #224 · umrover/mrover-ros2

a3801749 · 2026-04-23T19:42:28Z

Summary

Implemented inward spiraling functionality where the user has the option to set an inward spiral radius when creating a waypoint for the rover to conduct a search spiral about.

If an inward spiral radius is set with the cost map enabled and the rover's distance from the center of the radius being more than half the value of the inward spiral radius, the rover will move to the closest point on the inward spiral radius value and begin an inward spiral search towards the center. It will continue going in and out (to and from the inward spiral radius) while conducting its search.

If an inward spiral radius is set with the cost map enabled and the rover's distance from the center of the radius is less than or equal to half the value of the inward spiral radius, the rover will move to the center and conduct and outward spiral search (from the center to the inward spiral radius), and then the rover will begin an inward spiral search pattern.

If an inward spiral radius is set to 0 the rover will conduct an outward spiral search as normal (move to the center, outward spiral, move to the center, outward spiral). The radius used will be set to the default value as seen in navigation.yaml

Did you add documentation to the wiki?

I have not added documentation to the wiki yet; I have not been instructed to do so as of yet. However, I have documented my code in the branch.

How was this code tested?

Tested code in the simulator and on the rover.

Did you test this in sim?

I tested this by ensuring that the inward spiral functionality worked correctly in the following scenarios: coverage radius NOT set; coverage radius set, distance_from_center > 0.5inward_spiral_radius; coverage radius set, distance_from_center <= 0.5inward_spiral_radius. In all cases, the inward spiral functionality was found to work properly. A document with the results with images have been attached to this. The document shows test results from the older simulator, but the process remains the same.

If needed, I can make a new testing doc with images from the current simulator version.

Inward.Spiral.Test.Doc-1.pdf

Did you test this on the rover?

Yes, this was tested by @ejhon1116 on the rover

Did you add unit tests?

No, was told to test on sim.

ejhon1116

first pass, didnt lookat waypoint or trajectory.will look at rest later

ejhon1116 · 2026-04-23T21:53:23Z

@@ -1,5 +1,6 @@
 int8 tag_id
-bool enable_costmap
+bool enable_costmap  # necessary when using debug_course_publisher.launch.py


whats up with this comment

ejhon1116 · 2026-04-23T21:53:33Z

@@ -1,3 +1,4 @@
 int8 tag_id
-bool enable_costmap
+bool enable_costmap # necessary when using debug_course_publisher.launch.py


whats up with this comment

ejhon1116 · 2026-04-23T21:58:16Z

+        if search_center.coverage_radius > 0 and distance_from_center > 0.5 * search_center.coverage_radius:
+            enable_inward = True


you can just set enable_inward to this statement and remove the default initialization above

ejhon1116 · 2026-04-23T22:02:58Z

+            context.course.current_waypoint().coverage_radius > 0
+            and distance_from_center > 0.5 * context.course.current_waypoint().coverage_radius
+        ):
+            enable_inward = True


same comments as above for costmapsearchstate

ejhon1116 · 2026-04-23T22:03:44Z

+# inward spiral search trajectory implemented
+


delete this

ejhon1116 · 2026-04-23T22:03:57Z

+
+

ejhon1116 · 2026-04-24T01:09:34Z

Tested on rover 4/23/26. Looks good

jbrhm · 2026-04-24T01:34:13Z

                distance_between_spirals=context.node.get_parameter("search.distance_between_spirals").value,
                segments_per_rotation=context.node.get_parameter("search.segments_per_rotation").value,
-                max_segment_length=context.node.get_parameter("search.max_segment_length").value,
+                # max_segment_length=context.node.get_parameter("search.max_segment_length").value,


remove comment

jbrhm · 2026-04-24T01:37:14Z

+        enable_inward = False
+
+        # we set coverage_radius_in to the default parameter value from navigation.yaml
+        coverage_radius_in = context.node.get_parameter("search.coverage_radius").value


nice python syntax coverage_radius_in = search_center.coverage_radius if search_center.coverage_radius > 0 else context.node.get_parameter("search.coverage_radius").value. Or if that looks chopped make the assignments for this variable close together

jbrhm · 2026-04-24T01:37:35Z

+        if search_center.coverage_radius > 0:
+            # we override coverage_radius_in to be the waypoint's inward spiral coverage radius
+            coverage_radius_in = search_center.coverage_radius


jbrhm · 2026-04-24T01:38:38Z

+        coverage_radius_in = context.node.get_parameter("search.coverage_radius").value
+
+        if (
+            context.course.current_waypoint().coverage_radius > 0


use search_center

jbrhm · 2026-04-24T01:38:43Z

+
+        if (
+            context.course.current_waypoint().coverage_radius > 0
+            and distance_from_center > 0.5 * context.course.current_waypoint().coverage_radius


use search_center

jbrhm · 2026-04-24T01:38:56Z

+        if context.course.current_waypoint().coverage_radius > 0:
+            # we override coverage_radius_in to be the waypoint's inward spiral coverage radius
+            coverage_radius_in = context.course.current_waypoint().coverage_radius


see above comments

…lean

…-ros2 into skj/coverage-radius-clean

kevinjin0420 and others added 4 commits April 17, 2026 15:30

port over coverage radius

68b0493

Moved in changes from ad/inward_spiraling_testing_teleop

4a2be3c

Made additional changes to clean up inward spiraling code, yet to test

5d52760

Style changes made, fixed some none errors

5183997

ejhon1116 assigned a3801749 and kevinjin0420 Apr 23, 2026

ejhon1116 added navigation teleoperation labels Apr 23, 2026

ejhon1116 reviewed Apr 23, 2026

View reviewed changes

ejhon1116 changed the title ~~Skj/coverage radius clean (Inward Spiraling)~~ Nav Inward Spiraling + GUI Coverage Radius Apr 24, 2026

jbrhm requested changes Apr 24, 2026

View reviewed changes

kevinjin0420 and others added 5 commits April 25, 2026 02:08

Merge remote-tracking branch 'origin/main' into skj/coverage-radius-c…

c3933d8

…lean

add default radius values

a233e9f

frontend

ab55b80

Fixes made based on comments from first review

c16fd77

Merge branch 'skj/coverage-radius-clean' of github.com:umrover/mrover…

420770f

…-ros2 into skj/coverage-radius-clean

		if search_center.coverage_radius > 0 and distance_from_center > 0.5 * search_center.coverage_radius:
		enable_inward = True

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a3801749 commented Apr 23, 2026

Summary

Did you add documentation to the wiki?

How was this code tested?

Did you test this in sim?

Did you test this on the rover?

Did you add unit tests?

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ejhon1116 commented Apr 24, 2026

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