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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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sfuhrer
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@sfuhrer sfuhrer commented Jan 6, 2025 •
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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.

@sfuhrer
remove avoidance library and logic
59d413a 
Signed-off-by: Silvan <[email protected]>
@sfuhrer
PositionControllerStatus: remove unused fields
1eee755 
Remove yaw_acceptance and altitude_acceptance_radius fields as they were only
filled by now removed avoidance controller.

Signed-off-by: Silvan <[email protected]>
@sfuhrer
FlightTaskAuto: add todo for check
0a7e8a5 
Signed-off-by: Silvan <[email protected]>
@sfuhrer sfuhrer requested review from dagar, MaEtUgR and DanMesh January 6, 2025 08:01
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github-actions bot commented Jan 6, 2025

🔎 FLASH Analysis

px4_fmu-v5x [Total VM Diff: -5520 byte (-0.27 %)] 
    FILE SIZE        VM SIZE    
--------------  -------------- 
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  [DEL] -2.88Ki  [ = ]       0    ../../src/lib/avoidance/ObstacleAvoidance.cpp
  [DEL] -2.26Ki  [ = ]       0    ../../src/lib/bezier/BezierN.cpp
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  [DEL] -7.13Ki  [ = ]       0    ../../src/lib/avoidance/ObstacleAvoidance.cpp
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  [DEL]    -587  [ = ]       0    ../../src/lib/avoidance/ObstacleAvoidance.cpp
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  [DEL]    -416  [ = ]       0    ../../src/lib/avoidance/ObstacleAvoidance.cpp
  [DEL]    -752  [ = ]       0    ../../src/lib/bezier/BezierN.cpp
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px4_fmu-v6x [Total VM Diff: -5576 byte (-0.29 %)] 
    FILE SIZE        VM SIZE    
--------------  -------------- 
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  [DEL] -2.88Ki  [ = ]       0    ../../src/lib/avoidance/ObstacleAvoidance.cpp
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Updated: 2025-01-06T08:07:26

DanMesh
DanMesh reviewed Jan 6, 2025
View reviewed changes
src/lib/avoidance/ObstacleAvoidance.hpp
Comment on lines -54 to -55
#include <uORB/topics/vehicle_trajectory_bezier.h>
#include <uORB/topics/vehicle_trajectory_waypoint.h>
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I believe we could even remove these two uORB messages and sub-messages. They were only used for avoidance - @bastianhjaeger would you agree?

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Looking deeper still, we could probably then also remove the entire Bezier library.
https://github.com/PX4/PX4-Autopilot/tree/main/src/lib/bezier

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@DanMesh DanMesh DanMesh left review comments

@bresch bresch bresch approved these changes

@dagar dagar Awaiting requested review from dagar

@MaEtUgR MaEtUgR Awaiting requested review from MaEtUgR

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@sfuhrer @DanMesh @bresch