Removed Functionality: Remove collision avoidance interface on PX4 side #24172

sfuhrer · 2025-01-06T08:01:36Z

Solved Problem

We have archived the ROS side of the avoidance some time ago, and the interface on the PX4 side is not actively maintained (most of the initial contributors have left or have a changed focus). With the introduction of external flight modes we have arguably a better way of implementing it, and thus I propose to remove the interface on the PX4 side completely. This saves us quite some flash (5.5k), removes code complexity and prevents new developers to be sent on the wrong (old) track.

Solution

Remove CollisionAvoidance library (which was used in FlightTask), remove health check for avoidance, remove COM_OBS_AVOID, remove from message PositionControllerStatus.msg the fields yaw_acceptance and altitude_acceptance that were exclusively used for avoidance and with that also remove some acceptance logic from Navigator.

Changelog Entry

For release notes:

Removed Functionality: Remove collision avoidance interface on PX4 side

Alternatives

We could for a start only not build it but leave in code base (as it's already done for constrained builds). If somebody would complain we could revert more easily. Wouldn't resolve the lingering of a not-maintained PX4 code then though.

github-actions · 2025-01-06T08:07:27Z

🔎 FLASH Analysis

px4_fmu-v5x [Total VM Diff: -10248 byte (-0.5 %)]

    FILE SIZE        VM SIZE    
--------------  -------------- 
-0.5% -8.92Ki  [ = ]       0    .debug_abbrev
  [DEL] -2.88Ki  [ = ]       0    ../../src/lib/avoidance/ObstacleAvoidance.cpp
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  -1.3%     -50  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/AutoFollowTarget/FlightTaskAutoFollowTarget.cpp
  [DEL]    -900  [ = ]       0    msg/topics_sources/trajectory_bezier.cpp
  [DEL]    -900  [ = ]       0    msg/topics_sources/trajectory_waypoint.cpp
  [DEL]    -923  [ = ]       0    msg/topics_sources/vehicle_trajectory_bezier.cpp
  [DEL]    -940  [ = ]       0    msg/topics_sources/vehicle_trajectory_waypoint.cpp
  -1.8%     -56  [ = ]       0    src/modules/flight_mode_manager/FlightTasks_generated.cpp
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  [DEL]    -224  [ = ]       0    ../../src/lib/avoidance/ObstacleAvoidance.cpp
  [DEL]    -248  [ = ]       0    ../../src/lib/bezier/BezierN.cpp
  -5.0%      -8  [ = ]       0    ../../src/lib/version/version.c
  -0.9%      -8  [ = ]       0    ../../src/modules/commander/Commander.cpp
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  -4.0%     -24  [ = ]       0    ../../src/modules/uxrce_dds_client/uxrce_dds_client.cpp
  [DEL]     -32  [ = ]       0    msg/topics_sources/trajectory_bezier.cpp
  [DEL]     -32  [ = ]       0    msg/topics_sources/trajectory_waypoint.cpp
  [DEL]     -32  [ = ]       0    msg/topics_sources/vehicle_trajectory_bezier.cpp
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  [DEL] -7.13Ki  [ = ]       0    ../../src/lib/avoidance/ObstacleAvoidance.cpp
  [DEL] -6.46Ki  [ = ]       0    ../../src/lib/bezier/BezierN.cpp
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  [DEL] -13.8Ki  [ = ]       0    ../../src/lib/avoidance/ObstacleAvoidance.cpp
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  +0.1%     +15  [ = ]       0    ../../src/lib/collision_prevention/CollisionPrevention.cpp
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  +9.2%    +192  [ = ]       0    ../../src/modules/flight_mode_manager/FlightModeManager.cpp
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  -0.1%      -8  [ = ]       0    ../../src/modules/navigator/navigator_main.cpp
  -4.6%    -504  [ = ]       0    ../../src/modules/uxrce_dds_client/uxrce_dds_client.cpp
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  -0.7%     -49  [ = ]       0    ../../src/drivers/distance_sensor/lightware_laser_i2c/lightware_laser_i2c.cpp
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  -5.2%     -10  [ = ]       0    ../../src/lib/led/led.cpp
  +4.5%     +13  [ = ]       0    ../../src/lib/motion_planning/VelocitySmoothing.cpp
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px4_fmu-v6x [Total VM Diff: -10376 byte (-0.53 %)]

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Updated: 2025-01-15T09:25:46

src/lib/avoidance/ObstacleAvoidance.hpp

dagar · 2025-01-09T02:21:29Z

Plus the corresponding mavlink pieces once these are gone. #24172 (comment)

src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp

Signed-off-by: Silvan <[email protected]>

Remove yaw_acceptance and altitude_acceptance_radius fields as they were only filled by now removed avoidance controller. Signed-off-by: Silvan <[email protected]>

Signed-off-by: Silvan <[email protected]>

- TrajectoryBezier.msg - TrajectoryWaypoint.msg - VehicleTrajectoryBezier.msg - VehicleTrajectoryWaypoint.msg Additionally remove TRAJECTORY_REPRESENTATION_WAYPOINTS mavlink stream. Signed-off-by: Silvan <[email protected]>

Signed-off-by: Silvan <[email protected]>

As it is no longer needed w/o avoidance. Signed-off-by: Silvan <[email protected]>

src/modules/commander/HealthAndArmingChecks/checks/systemCheck.cpp

msg/PositionControllerStatus.msg

MaEtUgR

I rebased and removed some more:

Heartbeat processing for the obstacle avoidance MAVLink component since you already removed the handling for it
ROS1 Gazebo classic test which you had already removed the target for in the Makefile

Please double-check. Also we should probably mark the MAVLink messages that are no longer supported as deprecated to avoid confusion.

msg/versioned/VehicleStatus.msg

Signed-off-by: Silvan Fuhrer <[email protected]>

…quired Signed-off-by: Silvan Fuhrer <[email protected]>

DronecodeBot · 2025-01-15T16:39:08Z

This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/px4-sync-q-a-jan-15-2025/43274/1

sfuhrer · 2025-01-17T09:59:20Z

Waiting with merging due to the topic version bump it includes (68be795) for which, after my understanding, we need the translation mechanism in first.

@dagar @MaEtUgR @DanMesh beside the missing translation layer - good to go from your side?

sfuhrer added the Admin: Cleanup (housekeeping) 🧹 label Jan 6, 2025

sfuhrer requested review from dagar, MaEtUgR and DanMesh January 6, 2025 08:01

bresch previously approved these changes Jan 6, 2025

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DanMesh reviewed Jan 6, 2025

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sfuhrer dismissed bresch’s stale review via 4998fe9 January 10, 2025 12:13

sfuhrer force-pushed the pr-remove-avoidance-main branch from 76e5487 to 6bdddd4 Compare January 10, 2025 12:36

sfuhrer commented Jan 10, 2025

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src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp Show resolved Hide resolved

sfuhrer and others added 8 commits January 13, 2025 19:12

remove avoidance library and logic

90ff096

Signed-off-by: Silvan <[email protected]>

PositionControllerStatus: remove unused fields

669ef01

Remove yaw_acceptance and altitude_acceptance_radius fields as they were only filled by now removed avoidance controller. Signed-off-by: Silvan <[email protected]>

lib: remove bezier

92da4a4

Signed-off-by: Silvan <[email protected]>

Remove uorb topics exclusively used for avoidance

7e28bed

- TrajectoryBezier.msg - TrajectoryWaypoint.msg - VehicleTrajectoryBezier.msg - VehicleTrajectoryWaypoint.msg Additionally remove TRAJECTORY_REPRESENTATION_WAYPOINTS mavlink stream. Signed-off-by: Silvan <[email protected]>

tests: remove test_bezier

fe12492

Signed-off-by: Silvan <[email protected]>

FlightTaskAuto: remove isTargetModified()

a12d9fa

As it is no longer needed w/o avoidance. Signed-off-by: Silvan <[email protected]>

Remove obstacle avoidance MAVLink Heartbeat check

f9f5659

Remove obstacle avoidance test with Gazebo classic and ROS 1

8b09e7c

MaEtUgR reviewed Jan 13, 2025

View reviewed changes

src/modules/commander/HealthAndArmingChecks/checks/systemCheck.cpp Show resolved Hide resolved

MaEtUgR reviewed Jan 13, 2025

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msg/PositionControllerStatus.msg Show resolved Hide resolved

MaEtUgR force-pushed the pr-remove-avoidance-main branch from 6bdddd4 to 8b09e7c Compare January 13, 2025 18:58

MaEtUgR previously approved these changes Jan 13, 2025

View reviewed changes

sfuhrer commented Jan 14, 2025

View reviewed changes

msg/versioned/VehicleStatus.msg Show resolved Hide resolved

Remove health_component::avoidance

a94968e

Signed-off-by: Silvan Fuhrer <[email protected]>

sfuhrer dismissed MaEtUgR’s stale review via a94968e January 14, 2025 10:16

sfuhrer added 2 commits January 15, 2025 10:18

remove health_component::avoidance: adress review comments

e9a5485

Signed-off-by: Silvan Fuhrer <[email protected]>

VehicleStatus: bump VERSION to 1 after removal of avoidance_system_re…

68be795

…quired Signed-off-by: Silvan Fuhrer <[email protected]>

MaEtUgR mentioned this pull request Jan 15, 2025

Control allocation: make heli rpm control an optional build flag disabled by default #24217

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Removed Functionality: Remove collision avoidance interface on PX4 side #24172

Removed Functionality: Remove collision avoidance interface on PX4 side #24172

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Removed Functionality: Remove collision avoidance interface on PX4 side #24172

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Removed Functionality: Remove collision avoidance interface on PX4 side #24172

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