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Fetch NLopt when not available (and fix compiler warnings) #74

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c90a213
Fix bug updating serest tolerance params
Butakus Jul 27, 2026
34cdb52
Fix param initialization warnings and linter errors
Butakus Jul 27, 2026
28b2a3e
Get NLopt via CMake FetchContent if not available in the system
Butakus Jul 27, 2026
5b89aa4
Remove commented variables
Butakus Jul 27, 2026
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28 changes: 18 additions & 10 deletions controllers/easynav_mpc_controller/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -20,18 +20,26 @@ find_package(sensor_msgs REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(Eigen3 REQUIRED NO_MODULE)
find_package(PCL REQUIRED COMPONENTS common io)

# Try to find NLopt package from system first, or get it through CMake FetchContent to build it
find_package(NLopt QUIET)
if(NOT NLopt_FOUND)
find_path(NLOPT_INCLUDE_DIR nlopt.hpp)
find_library(NLOPT_LIBRARY nlopt)
if(NLOPT_INCLUDE_DIR AND NLOPT_LIBRARY)
set(NLopt_FOUND TRUE)
set(NLopt_INCLUDE_DIRS ${NLOPT_INCLUDE_DIR})
set(NLopt_LIBRARIES ${NLOPT_LIBRARY})
endif()
endif()
if(NOT NLopt_FOUND)
message(FATAL_ERROR "NLopt not found. Install libnlopt-dev or set NLopt_DIR/CMAKE_PREFIX_PATH.")
include(FetchContent)
# Force FetchContent to download and build in the workspace build dir
set(FETCH_CONTENT_BASE_DIR "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/_deps>")

# Disable unneeded NLopt features
set(NLOPT_PYTHON OFF)
set(NLOPT_OCTAVE OFF)
set(NLOPT_GUILE OFF)
set(NLOPT_JAVA OFF)
fetchcontent_declare(nlopt
GIT_REPOSITORY https://github.com/stevengj/nlopt
GIT_TAG v2.11.0
)
fetchcontent_makeavailable(
nlopt
)
endif()

add_library(${PROJECT_NAME} SHARED
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8 changes: 4 additions & 4 deletions controllers/easynav_regulated_pp_controller/tests/regulated_pp_controller_tests.cpp
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Expand Up @@ -99,10 +99,10 @@ TEST(DynamicWindowPurePursuit, ComputeDynamicWindowClampsToAccelLimits)
current_speed.angular.z = 0.0;

const auto window = easynav::dynamic_window_pure_pursuit::computeDynamicWindow(
current_speed, /*max_linear_vel=*/1.0, /*min_linear_vel=*/-1.0,
/*max_angular_vel=*/1.0, /*min_angular_vel=*/-1.0,
/*max_linear_accel=*/2.0, /*max_linear_decel=*/2.0,
/*max_angular_accel=*/2.0, /*max_angular_decel=*/2.0, /*dt=*/0.1);
current_speed, /*max_linear_vel=*/ 1.0, /*min_linear_vel=*/ -1.0,
/*max_angular_vel=*/ 1.0, /*min_angular_vel=*/ -1.0,
/*max_linear_accel=*/ 2.0, /*max_linear_decel=*/ 2.0,
/*max_angular_accel=*/ 2.0, /*max_angular_decel=*/ 2.0, /*dt=*/ 0.1);

EXPECT_NEAR(window.max_linear_vel, 0.2, 1e-9);
EXPECT_NEAR(window.min_linear_vel, -0.2, 1e-9);
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12 changes: 5 additions & 7 deletions controllers/easynav_serest_controller/src/easynav_serest_controller/SerestController.cpp
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Expand Up @@ -634,13 +634,11 @@ SerestController::update_rt(NavState & nav_state)
if (!fetch_required_inputs(nav_state, path, odom)) {return;}

// 1.5) Goal tolerances: prefer shared GoalManager values, fallback to local params
double goal_pos_tol = goal_pos_tol_;
double goal_yaw_tol = goal_yaw_tol_deg_ * (M_PI / 180.0);
if (nav_state.has("goal_tolerance.position")) {
goal_pos_tol = nav_state.get<double>("goal_tolerance.position");
goal_pos_tol_ = nav_state.get<double>("goal_tolerance.position");
}
if (nav_state.has("goal_tolerance.yaw")) {
goal_yaw_tol = nav_state.get<double>("goal_tolerance.yaw");
goal_yaw_tol_deg_ = nav_state.get<double>("goal_tolerance.yaw") * (180.0 / M_PI);
}

// 2) Robot state (position + yaw)
Expand Down Expand Up @@ -718,10 +716,10 @@ SerestController::update_rt(NavState & nav_state)
publish_cmd_and_debug(
nav_state, path, vlin, vrot,
e_y, e_theta, rk.kappa_hat,
d_closest, v_safe, v_curv, /*alpha*/1.0,
d_closest, v_safe, v_curv, /*alpha*/ 1.0,
allow_reverse_, dist_to_end,
dist_xy_goal, gamma_slow,
/*in_final_align*/0, /*arrived*/0);
/*in_final_align*/ 0, /*arrived*/ 0);
return;
}
}
Expand Down Expand Up @@ -830,7 +828,7 @@ SerestController::update_rt(NavState & nav_state)
d_closest, v_safe, v_curv, alpha,
allow_reverse_, dist_to_end,
dist_xy_goal, gamma_slow,
/*in_final_align=*/0, /*arrived=*/0);
/*in_final_align=*/ 0, /*arrived=*/ 0);
}

} // namespace easynav
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39 changes: 22 additions & 17 deletions localizers/easynav_costmap_localizer/src/easynav_costmap_localizer/AMCLLocalizer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -189,22 +189,28 @@ AMCLLocalizer::on_initialize()
auto node = get_node();
const auto & plugin_name = get_plugin_name();

int num_particles;
double x_init, y_init, yaw_init, std_dev_xy, std_dev_yaw;

node->declare_parameter<int>(plugin_name + ".num_particles", 100);
node->declare_parameter<double>(plugin_name + ".initial_pose.x", 0.0);
node->declare_parameter<double>(plugin_name + ".initial_pose.y", 0.0);
node->declare_parameter<double>(plugin_name + ".initial_pose.yaw", 0.0);
node->declare_parameter<double>(plugin_name + ".initial_pose.std_dev_xy", 0.5);
node->declare_parameter<double>(plugin_name + ".initial_pose.std_dev_yaw", 0.5);
node->declare_parameter<double>(plugin_name + ".reseed_freq", 1.0);
node->declare_parameter<double>(plugin_name + ".noise_translation", 0.01);
node->declare_parameter<double>(plugin_name + ".noise_rotation", 0.01);
node->declare_parameter<double>(plugin_name + ".noise_translation_to_rotation", 0.01);
node->declare_parameter<double>(plugin_name + ".min_noise_xy", 0.05);
node->declare_parameter<double>(plugin_name + ".min_noise_yaw", 0.05);
node->declare_parameter<bool>(plugin_name + ".compute_odom_from_tf", false);
int num_particles = 100;
double x_init = 0.0;
double y_init = 0.0;
double yaw_init = 0.0;
double std_dev_xy = 0.5;
double std_dev_yaw = 0.5;
double reseed_freq = 1.0;

node->declare_parameter<int>(plugin_name + ".num_particles", num_particles);
node->declare_parameter<double>(plugin_name + ".initial_pose.x", x_init);
node->declare_parameter<double>(plugin_name + ".initial_pose.y", y_init);
node->declare_parameter<double>(plugin_name + ".initial_pose.yaw", yaw_init);
node->declare_parameter<double>(plugin_name + ".initial_pose.std_dev_xy", std_dev_xy);
node->declare_parameter<double>(plugin_name + ".initial_pose.std_dev_yaw", std_dev_yaw);
node->declare_parameter<double>(plugin_name + ".reseed_freq", reseed_freq);
node->declare_parameter<double>(plugin_name + ".noise_translation", noise_translation_);
node->declare_parameter<double>(plugin_name + ".noise_rotation", noise_rotation_);
node->declare_parameter<double>(plugin_name + ".noise_translation_to_rotation",
noise_translation_to_rotation_);
node->declare_parameter<double>(plugin_name + ".min_noise_xy", min_noise_xy_);
node->declare_parameter<double>(plugin_name + ".min_noise_yaw", min_noise_yaw_);
node->declare_parameter<bool>(plugin_name + ".compute_odom_from_tf", compute_odom_from_tf_);

node->get_parameter<int>(plugin_name + ".num_particles", num_particles);
node->get_parameter<double>(plugin_name + ".initial_pose.x", x_init);
Expand All @@ -220,7 +226,6 @@ AMCLLocalizer::on_initialize()
node->get_parameter<double>(plugin_name + ".min_noise_yaw", min_noise_yaw_);
node->get_parameter<bool>(plugin_name + ".compute_odom_from_tf", compute_odom_from_tf_);

double reseed_freq;
node->get_parameter<double>(plugin_name + ".reseed_freq", reseed_freq);
reseed_time_ = 1.0 / reseed_freq;

Expand Down
37 changes: 21 additions & 16 deletions localizers/easynav_simple_localizer/src/easynav_simple_localizer/AMCLLocalizer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -187,21 +187,27 @@ AMCLLocalizer::on_initialize()
auto node = get_node();
const auto & plugin_name = get_plugin_name();

int num_particles;
double x_init, y_init, yaw_init, std_dev_xy, std_dev_yaw;

node->declare_parameter<int>(plugin_name + ".num_particles", 100);
node->declare_parameter<double>(plugin_name + ".initial_pose.x", 0.0);
node->declare_parameter<double>(plugin_name + ".initial_pose.y", 0.0);
node->declare_parameter<double>(plugin_name + ".initial_pose.yaw", 0.0);
node->declare_parameter<double>(plugin_name + ".initial_pose.std_dev_xy", 0.5);
node->declare_parameter<double>(plugin_name + ".initial_pose.std_dev_yaw", 0.5);
node->declare_parameter<double>(plugin_name + ".reseed_freq", 1.0);
node->declare_parameter<double>(plugin_name + ".noise_translation", 0.01);
node->declare_parameter<double>(plugin_name + ".noise_rotation", 0.01);
node->declare_parameter<double>(plugin_name + ".noise_translation_to_rotation", 0.01);
node->declare_parameter<double>(plugin_name + ".min_noise_xy", 0.05);
node->declare_parameter<double>(plugin_name + ".min_noise_yaw", 0.05);
int num_particles = 100;
double x_init = 0.0;
double y_init = 0.0;
double yaw_init = 0.0;
double std_dev_xy = 0.5;
double std_dev_yaw = 0.5;
double reseed_freq = 1.0;

node->declare_parameter<int>(plugin_name + ".num_particles", num_particles);
node->declare_parameter<double>(plugin_name + ".initial_pose.x", x_init);
node->declare_parameter<double>(plugin_name + ".initial_pose.y", y_init);
node->declare_parameter<double>(plugin_name + ".initial_pose.yaw", yaw_init);
node->declare_parameter<double>(plugin_name + ".initial_pose.std_dev_xy", std_dev_xy);
node->declare_parameter<double>(plugin_name + ".initial_pose.std_dev_yaw", std_dev_yaw);
node->declare_parameter<double>(plugin_name + ".reseed_freq", reseed_freq);
node->declare_parameter<double>(plugin_name + ".noise_translation", noise_translation_);
node->declare_parameter<double>(plugin_name + ".noise_rotation", noise_rotation_);
node->declare_parameter<double>(plugin_name + ".noise_translation_to_rotation",
noise_translation_to_rotation_);
node->declare_parameter<double>(plugin_name + ".min_noise_xy", min_noise_xy_);
node->declare_parameter<double>(plugin_name + ".min_noise_yaw", min_noise_yaw_);

node->get_parameter<int>(plugin_name + ".num_particles", num_particles);
node->get_parameter<double>(plugin_name + ".initial_pose.x", x_init);
Expand Down Expand Up @@ -231,7 +237,6 @@ AMCLLocalizer::on_initialize()
}


double reseed_freq;
node->get_parameter<double>(plugin_name + ".reseed_freq", reseed_freq);
reseed_time_ = 1.0 / reseed_freq;

Expand Down