From 1d81fdc84b577eba7dc2418f813bb982bb136a0e Mon Sep 17 00:00:00 2001
From: Alejandro Lopez Gestoso <alopez@iti.upc.edu>
Date: Tue, 29 Jun 2021 19:33:58 +0200
Subject: [PATCH] Modified navigation aprameters
---
launch/nav_map.launch | 4 +-
launch/nav_no_map.launch | 4 +-
params/costmap/3d_camera_layers.yaml | 96 -------
params/costmap/3d_lidar_layers.yaml | 21 --
params/costmap/3d_local_params.yaml | 20 --
params/costmap/common_params.yaml | 5 +-
params/costmap/local_params.yaml | 4 +-
params/costmap/map/3d_global_params.yaml | 24 --
params/costmap/map/global_params.yaml | 2 +-
params/costmap/no_map/3d_global_params.yaml | 18 --
params/costmap/no_map/global_params.yaml | 1 -
params/local_planner/dwa_params.yaml | 12 +-
rviz/nav.rviz | 261 +++++---------------
13 files changed, 76 insertions(+), 396 deletions(-)
delete mode 100755 params/costmap/3d_camera_layers.yaml
delete mode 100755 params/costmap/3d_lidar_layers.yaml
delete mode 100755 params/costmap/3d_local_params.yaml
delete mode 100644 params/costmap/map/3d_global_params.yaml
delete mode 100644 params/costmap/no_map/3d_global_params.yaml
diff --git a/launch/nav_map.launch b/launch/nav_map.launch
index 73aa7dc..87be8b8 100644
--- a/launch/nav_map.launch
+++ b/launch/nav_map.launch
@@ -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"/>
diff --git a/launch/nav_no_map.launch b/launch/nav_no_map.launch
index ba71d64..214e770 100644
--- a/launch/nav_no_map.launch
+++ b/launch/nav_no_map.launch
@@ -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"/>
diff --git a/params/costmap/3d_camera_layers.yaml b/params/costmap/3d_camera_layers.yaml
deleted file mode 100755
index 7bcef37..0000000
--- a/params/costmap/3d_camera_layers.yaml
+++ /dev/null
@@ -1,96 +0,0 @@
-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
- }
diff --git a/params/costmap/3d_lidar_layers.yaml b/params/costmap/3d_lidar_layers.yaml
deleted file mode 100755
index 49d7c81..0000000
--- a/params/costmap/3d_lidar_layers.yaml
+++ /dev/null
@@ -1,21 +0,0 @@
-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
- }
diff --git a/params/costmap/3d_local_params.yaml b/params/costmap/3d_local_params.yaml
deleted file mode 100755
index c1af5d7..0000000
--- a/params/costmap/3d_local_params.yaml
+++ /dev/null
@@ -1,20 +0,0 @@
-#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"}
-
-
diff --git a/params/costmap/common_params.yaml b/params/costmap/common_params.yaml
index 1868655..e0a900b 100644
--- a/params/costmap/common_params.yaml
+++ b/params/costmap/common_params.yaml
@@ -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
diff --git a/params/costmap/local_params.yaml b/params/costmap/local_params.yaml
index 45f1f55..671a441 100644
--- a/params/costmap/local_params.yaml
+++ b/params/costmap/local_params.yaml
@@ -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"}
diff --git a/params/costmap/map/3d_global_params.yaml b/params/costmap/map/3d_global_params.yaml
deleted file mode 100644
index 09fc474..0000000
--- a/params/costmap/map/3d_global_params.yaml
+++ /dev/null
@@ -1,24 +0,0 @@
-#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
diff --git a/params/costmap/map/global_params.yaml b/params/costmap/map/global_params.yaml
index 00a3417..9e3c73c 100644
--- a/params/costmap/map/global_params.yaml
+++ b/params/costmap/map/global_params.yaml
@@ -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"}
diff --git a/params/costmap/no_map/3d_global_params.yaml b/params/costmap/no_map/3d_global_params.yaml
deleted file mode 100644
index f278ca4..0000000
--- a/params/costmap/no_map/3d_global_params.yaml
+++ /dev/null
@@ -1,18 +0,0 @@
-#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"}
diff --git a/params/costmap/no_map/global_params.yaml b/params/costmap/no_map/global_params.yaml
index 5156862..691853a 100644
--- a/params/costmap/no_map/global_params.yaml
+++ b/params/costmap/no_map/global_params.yaml
@@ -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"}
diff --git a/params/local_planner/dwa_params.yaml b/params/local_planner/dwa_params.yaml
index 6623cd7..509483f 100644
--- a/params/local_planner/dwa_params.yaml
+++ b/params/local_planner/dwa_params.yaml
@@ -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
diff --git a/rviz/nav.rviz b/rviz/nav.rviz
index 560dad6..1ef7d83 100644
--- a/rviz/nav.rviz
+++ b/rviz/nav.rviz
@@ -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
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Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
- Trajectory - Trajectory Slider:
- collapsed: false
Views:
collapsed: false
Width: 1853
--
GitLab