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Commit 54b80172 authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
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Fixed some navigation problems

parent 1d81fdc8
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params/amcl.yaml
View file @ 54b80172
map_frame_id: map
odom_frame_id: robot/odom
base_frame_id: robot/base_footprint
odom_frame_id: odom
base_frame_id: base_footprint
initial_pose_x: 0.0
initial_pose_y: 0.0
initial_pose_a: 0.0
......@@ -13,7 +13,7 @@ kld_z: 0.99
update_min_d: 0.2
update_min_a: 0.5236
resample_interval: 2
transform_tolerance: 0.1
transform_tolerance: 0.5
recovery_alpha_slow: 0.0
recovery_alpha_fast: 0.0
initial_cov_xx: 0.25
......
params/costmap/common_params.yaml
View file @ 54b80172
......@@ -3,7 +3,15 @@ max_obstacle_height: 0.60 # assume something like an arm is mounted on top of t
# Obstacle Cost Shaping (http://wiki.ros.org/costmap_2d/hydro/inflation)
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
robot_base_frame: base_footprint
track_unknown_space: false
always_send_full_costmap: false
transform_tolerance: 4.0
width: 10.0
height: 10.0
resolution: 0.1
origin_x: 0.0
origin_y: 0.0
obstacle_layer:
enabled: true
......
params/costmap/local_params.yaml
View file @ 54b80172
......@@ -7,7 +7,7 @@ rolling_window: true
width: 4.0
height: 4.0
resolution: 0.05
transform_tolerance: 1.0
transform_tolerance: 4.0
plugins:
- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
params/costmap/map/global_params.yaml
View file @ 54b80172
#global_costmap: ###namespace added when loading parameters in move_base.launch
global_frame: map
robot_base_frame: base_footprint
update_frequency: 1.0
publish_frequency: 0.5
#static_map: true
transform_tolerance: 0.5
rolling_window: false
transform_tolerance: 4.0
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
static_layer:
enabled: true
map_topic: /map
map_topic: map
first_map_only: false
subscribe_to_updates: false
unknown_cost_value: -1
......
params/costmap/no_map/global_params.yaml
View file @ 54b80172
global_frame: map
robot_base_frame: base_footprint
global_frame: odom
update_frequency: 1.0
publish_frequency: 0.5
static_map: true
transform_tolerance: 0.5
rolling_window: true
transform_tolerance: 4.0
width: 20.0
height: 20.0
resolution: 0.2
origin_x: 0.0
origin_y: 0.0
plugins:
- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
params/global_planner/global_planner_params.yaml
View file @ 54b80172
base_global_planner: "navfn/NavfnROS" #alternatives: global_planner/GlobalPlanner, carrot_planner/CarrotPlanner
base_global_planner: "global_planner/GlobalPlanner"
GlobalPlanner: # Also see: http://wiki.ros.org/global_planner
old_navfn_behavior: false # Exactly mirror behavior of navfn, use defaults for other boolean parameters, default false
......@@ -10,7 +10,7 @@ GlobalPlanner: # Also see: http://wiki.ros.org/
#Needs to have track_unknown_space: true in the obstacle / voxel layer (in costmap_commons_param) to work
planner_window_x: 0.0 # default 0.0
planner_window_y: 0.0 # default 0.0
default_tolerance: 0.0 # If goal in obstacle, plan to the closest point in radius default_tolerance, default 0.0
default_tolerance: 1.0 # If goal in obstacle, plan to the closest point in radius default_tolerance, default 0.0
publish_scale: 100 # Scale by which the published potential gets multiplied, default 100
planner_costmap_publish_frequency: 0.0 # default 0.0
......
rviz/nav_no_map.rviz
View file @ 54b80172
......@@ -4,11 +4,11 @@ Panels:
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /TF1/Tree1
- /Sensors1/LaserScan1
- /Navigation1
Splitter Ratio: 0.5
Tree Height: 796
Tree Height: 587
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
......@@ -27,10 +27,14 @@ Panels:
Name: Time
SyncMode: 0
SyncSource: LaserScan
- Class: rviz/Help
Name: Help
- 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:
......@@ -278,9 +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
......@@ -363,7 +367,7 @@ Visualization Manager:
Use rainbow: true
Value: false
- Class: rviz/Image
Enabled: false
Enabled: true
Image Topic: /camera/rgb/image_raw
Max Value: 1
Median window: 5
......@@ -373,7 +377,7 @@ Visualization Manager:
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: false
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
......@@ -523,6 +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
......@@ -538,194 +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
......@@ -742,16 +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: 10.105010986328125
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
......@@ -766,30 +628,26 @@ 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:
collapsed: false
Height: 1025
Help:
collapsed: false
Hide Left Dock: false
Hide Right Dock: false
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd000000040000000000000195000003a7fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003a7000000c900fffffffb0000000a0049006d006100670065000000031e000000c60000001600fffffffb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000003c005400720061006a006500630074006f007200790020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000000800480065006c0070000000032b000000b90000006e00fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730000000337000000ad0000005c00ffffff000000010000010b00000294fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003300000294000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000004f300fffffffb0000000800540069006d00650100000000000004500000000000000000000005a2000003a700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd000000040000000000000195000003a7fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002d6000000c900fffffffb0000000a0049006d006100670065000000031e000000c60000000000000000fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000003c005400720061006a006500630074006f007200790020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730000000337000000ad0000005c00fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730000000337000000ad0000005c00fffffffb0000000a0049006d0061006700650100000319000000cb0000001600ffffff000000010000010b00000294fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003300000294000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005a2000003a700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Trajectory - Trajectory Slider:
collapsed: false
Views:
collapsed: false
Width: 1853
......
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