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Commit 1d81fdc8 authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
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Modified navigation aprameters

parent 2dd1ecac
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launch/nav_map.launch
View file @ 1d81fdc8
......@@ -31,8 +31,8 @@
<arg name="map_frame_id" value="map"/>
<arg name="odom_frame_id" value="odom"/>
<arg name="base_frame_id" value="base_footprint"/>
<arg name="map_topic" value="/map"/>
<arg name="map_service" value="/static_map"/>
<arg name="map_topic" value="/$(arg name)/map"/>
<arg name="map_service" value="/$(arg name)/static_map"/>
<arg name="odom_topic" value="/odom"/>
<arg name="cmd_vel_topic" value="/cmd_vel_mux/input/navi"/>
<arg name="scan_topic" value="/scan"/>
......
launch/nav_no_map.launch
View file @ 1d81fdc8
......@@ -31,8 +31,8 @@
<arg name="map_frame_id" value="map"/>
<arg name="odom_frame_id" value="odom"/>
<arg name="base_frame_id" value="base_footprint"/>
<arg name="map_topic" value="/map"/>
<arg name="map_service" value="/static_map"/>
<arg name="map_topic" value="/$(arg name)/map"/>
<arg name="map_service" value="/$(arg name)/static_map"/>
<arg name="odom_topic" value="/odom"/>
<arg name="cmd_vel_topic" value="/cmd_vel_mux/input/navi"/>
<arg name="scan_topic" value="/scan"/>
......
params/costmap/3d_camera_layers.yaml deleted 100755 → 0
View file @ 2dd1ecac
obstacle_layer_camera:
enabled: true
track_unknown_space: true
transform_tolerance: 0.2
max_obstacle_height: 100.0 #1.0
footprint_clearing_enabled: false
combination_method: 1
observation_sources: camera_marking
camera_marking: {
sensor_frame: /robot/base_footprint,
data_type: PointCloud,
topic: /robot/point_cloud_obs,
observation_persistence: 0.0,
marking: true,
clearing: true,
min_obstacle_height: -100.0,
max_obstacle_height: 100.0,
expected_update_rate: 1,
obstacle_range: 5.0,
raytrace_range: 10.0
}
hole_layer_near_camera:
enabled: true
track_unknown_space: true
transform_tolerance: 0.2
max_obstacle_height: 100.0 #1.0
footprint_clearing_enabled: false
combination_method: 1
observation_sources: hole_near_marking hole_near_clearing
hole_near_marking: {
sensor_frame: /robot/base_footprint,
data_type: PointCloud2,
topic: /robot/point_cloud_mark_near,
observation_persistence: 0.0,
marking: true,
clearing: false,
min_obstacle_height: -100.0,
max_obstacle_height: 100.0,
expected_update_rate: 1,
obstacle_range: 5.0,
raytrace_range: 10.0
}
hole_near_clearing: {
sensor_frame: /robot/base_footprint,
data_type: PointCloud2,
topic: /robot/point_cloud_clear_near,
observation_persistence: 0.0,
marking: false,
clearing: true,
min_obstacle_height: -100.0,
max_obstacle_height: 100.0,
expected_update_rate: 1,
obstacle_range: 5.0,
raytrace_range: 10.0
}
hole_layer_far_camera:
enabled: true
track_unknown_space: true
transform_tolerance: 0.2
max_obstacle_height: 100.0 #1.0
footprint_clearing_enabled: false
combination_method: 1
observation_sources: hole_far_marking hole_far_clearing
hole_far_marking: {
sensor_frame: /robot/base_footprint,
data_type: PointCloud2,
topic: /robot/point_cloud_mark_far,
observation_persistence: 0.0,
marking: true,
clearing: false,
min_obstacle_height: -100.0,
max_obstacle_height: 100.0,
expected_update_rate: 1,
obstacle_range: 5.0,
raytrace_range: 10.0
}
hole_far_clearing: {
sensor_frame: /robot/base_footprint,
data_type: PointCloud2,
topic: /robot/point_cloud_clear_far,
observation_persistence: 0.0,
marking: false,
clearing: true,
min_obstacle_height: -100.0,
max_obstacle_height: 100.0,
expected_update_rate: 1,
obstacle_range: 5.0,
raytrace_range: 10.0
}
params/costmap/3d_lidar_layers.yaml deleted 100755 → 0
View file @ 2dd1ecac
obstacle_layer_lidar:
enabled: true
track_unknown_space: true
transform_tolerance: 0.2
max_obstacle_height: 10.0
footprint_clearing_enabled: false
combination_method: 1
observation_sources: lidar_marking
lidar_marking: {
sensor_frame: /robot/base_footprint,
data_type: LaserScan,
topic: /robot/scan,
observation_persistence: 0.0,
marking: true,
clearing: true,
min_obstacle_height: -10.0,
max_obstacle_height: 10.0,
expected_update_rate: 1,
obstacle_range: 5.0,
raytrace_range: 200.0
}
params/costmap/3d_local_params.yaml deleted 100755 → 0
View file @ 2dd1ecac
#local_costmap: ###namespace added when loading parameters in move_base.launch
global_frame: robot/odom
update_frequency: 5.0
publish_frequency: 2.0
rolling_window: true
width: 10.0
height: 10.0
resolution: 0.1
#origin_x: 0.0
#origin_y: 0.0
#costmap plugins
plugins:
- {name: obstacle_layer_lidar, type: "costmap_2d::ObstacleLayer"}
- {name: obstacle_layer_camera, type: "costmap_2d::ObstacleLayer"}
- {name: hole_layer_near_camera, type: "costmap_2d::ObstacleLayer"}
- {name: hole_layer_far_camera, type: "costmap_2d::ObstacleLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
params/costmap/common_params.yaml
View file @ 1d81fdc8
......@@ -4,7 +4,6 @@ max_obstacle_height: 0.60 # assume something like an arm is mounted on top of t
robot_radius: 0.20 # distance a circular robot should be clear of the obstacle (kobuki: 0.18)
# footprint: [[x0, y0], [x1, y1], ... [xn, yn]] # if the robot is not circular
map_type: voxel
obstacle_layer:
enabled: true
......@@ -42,10 +41,8 @@ obstacle_layer:
#cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns
inflation_layer:
enabled: true
inflate_unknown: false
cost_scaling_factor: 5.0 # exponential rate at which the obstacle cost drops off (default: 10)
inflation_radius: 0.5 # max. distance from an obstacle at which costs are incurred for planning paths.
static_layer:
enabled: true
params/costmap/local_params.yaml
View file @ 1d81fdc8
......@@ -2,12 +2,12 @@ global_frame: odom
robot_base_frame: base_footprint
update_frequency: 5.0
publish_frequency: 2.0
static_map: false
#static_map: false
rolling_window: true
width: 4.0
height: 4.0
resolution: 0.05
transform_tolerance: 0.5
transform_tolerance: 1.0
plugins:
- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
params/costmap/map/3d_global_params.yaml deleted 100644 → 0
View file @ 2dd1ecac
#global_costmap: ###namespace added when loading parameters in move_base.launch
global_frame: map
update_frequency: 1.0
publish_frequency: 1.0
rolling_window: false
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: obstacle_layer_lidar, type: "costmap_2d::ObstacleLayer"}
- {name: obstacle_layer_camera, type: "costmap_2d::ObstacleLayer"}
- {name: hole_layer_near_camera,type: "costmap_2d::ObstacleLayer"}
- {name: hole_layer_far_camera, type: "costmap_2d::ObstacleLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
static_layer:
enabled: true
map_topic: /map
first_map_only: false
subscribe_to_updates: false
unknown_cost_value: -1
use_maximum: false
lethal_cost_threshold: 100
track_unknown_space: true
trinary_costmap: true
params/costmap/map/global_params.yaml
View file @ 1d81fdc8
......@@ -3,7 +3,7 @@ global_frame: map
robot_base_frame: base_footprint
update_frequency: 1.0
publish_frequency: 0.5
static_map: true
#static_map: true
transform_tolerance: 0.5
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
......
params/costmap/no_map/3d_global_params.yaml deleted 100644 → 0
View file @ 2dd1ecac
#global_costmap: ###namespace added when loading parameters in move_base.launch
global_frame: /robot/odom
update_frequency: 1.0
publish_frequency: 0.0
rolling_window: true
transform_tolerance: 1.0
width: 20.0
height: 20.0
resolution: 0.2
origin_x: 0.0
origin_y: 0.0
plugins:
- {name: obstacle_layer_lidar, type: "costmap_2d::ObstacleLayer"}
- {name: obstacle_layer_camera, type: "costmap_2d::ObstacleLayer"}
- {name: hole_layer_near_camera, type: "costmap_2d::ObstacleLayer"}
- {name: hole_layer_far_camera, type: "costmap_2d::ObstacleLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
params/costmap/no_map/global_params.yaml
View file @ 1d81fdc8
......@@ -5,7 +5,6 @@ publish_frequency: 0.5
static_map: true
transform_tolerance: 0.5
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
params/local_planner/dwa_params.yaml
View file @ 1d81fdc8
......@@ -9,17 +9,17 @@ DWAPlannerROS:
max_vel_y: 0.0 # diff drive robot
min_vel_y: 0.0 # diff drive robot
max_trans_vel: 0.5 # choose slightly less than the base's capability
min_trans_vel: 0.1 # this is the min trans velocity when there is negligible rotational velocity
max_vel_trans: 0.5 # choose slightly less than the base's capability
min_vel_trans: 0.1 # this is the min trans velocity when there is negligible rotational velocity
trans_stopped_vel: 0.1
# Warning!
# do not set min_trans_vel to 0.0 otherwise dwa will always think translational velocities
# are non-negligible and small in place rotational velocities will be created.
max_rot_vel: 5.0 # choose slightly less than the base's capability
min_rot_vel: 0.4 # this is the min angular velocity when there is negligible translational velocity
rot_stopped_vel: 0.4
max_vel_theta: 5.0 # choose slightly less than the base's capability
min_vel_theta: 0.4 # this is the min angular velocity when there is negligible translational velocity
theta_stopped_vel: 0.4
acc_lim_x: 1.0 # maximum is theoretically 2.0, but we
acc_lim_theta: 2.0
......@@ -28,7 +28,7 @@ DWAPlannerROS:
# Goal Tolerance Parameters
yaw_goal_tolerance: 0.3 # 0.05
xy_goal_tolerance: 0.15 # 0.10
# latch_xy_goal_tolerance: false
latch_xy_goal_tolerance: true
# Forward Simulation Parameters
sim_time: 1.0 # 1.7
......
rviz/nav.rviz
View file @ 1d81fdc8
......@@ -5,6 +5,7 @@ Panels:
Property Tree Widget:
Expanded:
- /TF1/Tree1
- /Sensors1/LaserScan1
- /Navigation1
Splitter Ratio: 0.5
Tree Height: 796
......@@ -27,7 +28,13 @@ Panels:
SyncMode: 0
SyncSource: LaserScan
- Class: rviz/Tool Properties
Expanded: ~
Expanded:
- /2D Nav Goal1
Name: Tool Properties
Splitter Ratio: 0.5
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
Name: Tool Properties
Splitter Ratio: 0.5
Preferences:
......@@ -275,9 +282,9 @@ Visualization Manager:
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (Pixels): 5
Size (m): 0.009999999776482582
Style: Squares
Style: Points
Topic: /scan
Unreliable: false
Use Fixed Frame: true
......@@ -520,6 +527,52 @@ Visualization Manager:
Topic: /turtlebot/particlecloud
Unreliable: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 25; 255; 0
Enabled: false
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: GlobalPath
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /turtlebot/move_base/NavfnROS/plan
Unreliable: false
Value: false
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 32; 74; 135
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: LocalPath
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /turtlebot/move_base/DWAPlannerROS/local_plan
Unreliable: false
Value: true
- Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
......@@ -535,194 +588,6 @@ Visualization Manager:
Topic: /turtlebot/move_base/current_goal
Unreliable: false
Value: true
- Class: moveit_rviz_plugin/Trajectory
Color Enabled: false
Enabled: true
Interrupt Display: false
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
camera_depth_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_depth_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
camera_rgb_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_rgb_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
caster_back_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
caster_front_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
cliff_sensor_front_link:
Alpha: 1
Show Axes: false
Show Trail: false
cliff_sensor_left_link:
Alpha: 1
Show Axes: false
Show Trail: false
cliff_sensor_right_link:
Alpha: 1
Show Axes: false
Show Trail: false
gyro_link:
Alpha: 1
Show Axes: false
Show Trail: false
mount_xtion_pro_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
plate_bottom_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
plate_middle_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
plate_top_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_bottom_0_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_bottom_1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_bottom_2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_bottom_3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_bottom_4_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_bottom_5_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_kinect_0_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_kinect_1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_middle_0_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_middle_1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_middle_2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_middle_3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_top_0_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_top_1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_top_2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pole_top_3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheel_left_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheel_right_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Loop Animation: false
Name: Trajectory
Robot Alpha: 0.5
Robot Color: 150; 50; 150
Robot Description: robot_description
Show Robot Collision: false
Show Robot Visual: true
Show Trail: false
State Display Time: 0.05 s
Trail Step Size: 1
Trajectory Topic: /move_group/display_planned_path
Value: true
Enabled: true
Name: Navigation
Enabled: true
......@@ -739,16 +604,16 @@ Visualization Manager:
- Class: rviz/Select
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose
Topic: /turtlebot/initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /turtlebot/move_base/current_goal
Topic: /turtlebot/move_base_simple/goal
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 16.941070556640625
Distance: 12.930249214172363
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
......@@ -763,10 +628,10 @@ Visualization Manager:
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.600398600101471
Pitch: 1.1997966766357422
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 3.8685827255249023
Yaw: 4.7135844230651855
Saved: ~
Window Geometry:
Displays:
......@@ -776,15 +641,13 @@ Window Geometry:
Hide Right Dock: false
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd000000040000000000000195000003a7fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003a7000000c900fffffffb0000000a0049006d006100670065000000031e000000c60000001600fffffffb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000003c005400720061006a006500630074006f007200790020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730000000337000000ad0000005c00ffffff000000010000010b00000294fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003300000294000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000004f300fffffffb0000000800540069006d00650100000000000004500000000000000000000005a2000003a700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd000000040000000000000195000003a7fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003a7000000c900fffffffb0000000a0049006d006100670065000000031e000000c60000001600fffffffb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000003c005400720061006a006500630074006f007200790020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730000000337000000ad0000005c00fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730000000337000000ad0000005c00ffffff000000010000010b00000294fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003300000294000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000004f300fffffffb0000000800540069006d00650100000000000004500000000000000000000005a2000003a700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Trajectory - Trajectory Slider:
collapsed: false
Views:
collapsed: false
Width: 1853
......
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