Commit 49eb01b3 authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
Browse files

Merge branch 'update' into 'master'

Update

See merge request !1
parents 9a4e6c9a b9af6bb1
<?xml version="1.0"?>
<!-- -->
<launch>
<arg name="name" default="turtlebot"/>
<arg name="path" default="$(find iri_turtlebot_launch)/params"/>
<arg name="move_base_params" default="move_base_params.yaml"/>
<arg name="costmap_common_params" default="common_params.yaml"/>
<arg name="costmap_local_params" default="local_params.yaml"/>
<arg name="costmap_global_params" default="global_params.yaml"/>
<arg name="map_frame_id" default="map"/>
<arg name="resolution" default="0.1"/>
<arg name="local_planner" default="dwa"/>
<arg name="global_planner" default="global_planner"/>
<arg name="rviz" default="true"/>
<arg name="rviz_file" default="$(find iri_turtlebot_launch)/rviz/nav.rviz"/>
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
<include file="$(find iri_rosnav)/launch/nav.launch">
<arg name="ns" value="$(arg name)"/>
<arg name="path" value="$(arg path)"/>
<arg name="move_base_params" value="$(arg move_base_params)"/>
<arg name="costmap_common_params" value="$(arg costmap_common_params)"/>
<arg name="costmap_local_params" value="$(arg costmap_local_params)"/>
<arg name="costmap_global_params" value="$(arg costmap_global_params)"/>
<arg name="map_frame_id" value="map"/>
<arg name="odom_frame_id" value="odom"/>
<arg name="base_frame_id" value="base_footprint"/>
<arg name="map_topic" value="/$(arg name)/map"/>
<arg name="map_service" value="/$(arg name)/static_map"/>
<arg name="odom_topic" value="/odom"/>
<arg name="cmd_vel_topic" value="/cmd_vel_mux/input/navi"/>
<arg name="scan_topic" value="/scan"/>
<arg name="use_map" value="true"/>
<arg name="use_map_server" value="false"/>
<arg name="map_name" value="empty"/>
<arg name="use_amcl" value="false"/>
<arg name="use_fake_loc" value="false"/>
<arg name="use_gmapping" value="true"/>
<arg name="gmapping_scan_topic" value="/scan"/>
<arg name="gmapping_config" value="$(find iri_turtlebot_launch)/params/gmapping.yaml"/>
<arg name="resolution" value="$(arg resolution)"/>
<arg name="local_planner" value="$(arg local_planner)"/>
<arg name="global_planner" value="$(arg global_planner)"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
<node name="rviz"
pkg="rviz"
type="rviz"
if="$(arg rviz)"
args="-d $(arg rviz_file)">
</node>
</launch>
......@@ -32,14 +32,14 @@ obstacle_layer:
observation_sources: scan bump
scan:
data_type: LaserScan
topic: scan
topic: /scan
marking: true
clearing: true
min_obstacle_height: 0.25
max_obstacle_height: 0.35
bump:
data_type: PointCloud2
topic: mobile_base/sensors/bumper_pointcloud
topic: /mobile_base/sensors/bumper_pointcloud
marking: true
clearing: false
min_obstacle_height: 0.0
......
map_update_interval: 5.0
maxUrange: 29.0
#name: value #default_value
throttle_scans: 1
#base_frame: base_link
#map_frame: map
#odom_frame: odom
map_update_interval: 1.0 #5.0
maxUrange: 7.8 #80.0
sigma: 0.05
kernelSize: 1
lstep: 0.05
......@@ -8,23 +14,25 @@ iterations: 5
lsigma: 0.075
ogain: 3.0
lskip: 0
minimumScore: 50.0 #0.0
srr: 0.1
srt: 0.2
str: 0.1
stt: 0.2
linearUpdate: 0.5
angularUpdate: 0.5
temporalUpdate: 10.0
linearUpdate: 0.05 #1.0
angularUpdate: 0.01 #0.5
temporalUpdate: 1.0 #-1.0
resampleThreshold: 0.5
particles: 80
particles: 200 #30
xmin: -5.0
ymin: -5.0
xmax: 5.0
ymax: 5.0
delta: 0.1
delta: 0.05 #0.05
llsamplerange: 0.01
llsamplestep: 0.01
lasamplerange: 0.005
lasamplestep: 0.005
\ No newline at end of file
lasamplestep: 0.005
transform_publish_period: 0.05
occ_thresh: 0.25
maxRange: 8.5
......@@ -18,7 +18,7 @@ DWAPlannerROS:
# are non-negligible and small in place rotational velocities will be created.
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
min_vel_theta: 0.1 # 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
......@@ -39,7 +39,7 @@ DWAPlannerROS:
# Trajectory Scoring Parameters
path_distance_bias: 64.0 # 32.0 - weighting for how much it should stick to the global path plan
goal_distance_bias: 24.0 # 24.0 - wighting for how much it should attempt to reach its goal
occdist_scale: 0.5 # 0.01 - weighting for how much the controller should avoid obstacles
occdist_scale: 0.1 # 0.01 - weighting for how much the controller should avoid obstacles
forward_point_distance: 0.325 # 0.325 - how far along to place an additional scoring point
stop_time_buffer: 0.2 # 0.2 - amount of time a robot must stop in before colliding for a valid traj.
scaling_speed: 0.25 # 0.25 - absolute velocity at which to start scaling the robot's footprint
......
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