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Alejandro Lopez Gestoso
iri_turtlebot_launch
Commits
b9af6bb1
Commit
b9af6bb1
authored
3 years ago
by
Fernando Herrero
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Update nav and mapping params
parent
852ab483
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1 merge request
!1
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2 changed files
params/gmapping.yaml
+4
-4
4 additions, 4 deletions
params/gmapping.yaml
params/local_planner/dwa_params.yaml
+2
-2
2 additions, 2 deletions
params/local_planner/dwa_params.yaml
with
6 additions
and
6 deletions
params/gmapping.yaml
+
4
−
4
View file @
b9af6bb1
...
@@ -14,16 +14,16 @@ iterations: 5
...
@@ -14,16 +14,16 @@ iterations: 5
lsigma
:
0.075
lsigma
:
0.075
ogain
:
3.0
ogain
:
3.0
lskip
:
0
lskip
:
0
minimumScore
:
0.0
#0.0
minimumScore
:
5
0.0
#0.0
srr
:
0.1
srr
:
0.1
srt
:
0.2
srt
:
0.2
str
:
0.1
str
:
0.1
stt
:
0.2
stt
:
0.2
linearUpdate
:
0.
1
#1.0
linearUpdate
:
0.
05
#1.0
angularUpdate
:
0.0
5
#0.5
angularUpdate
:
0.0
1
#0.5
temporalUpdate
:
1.0
#-1.0
temporalUpdate
:
1.0
#-1.0
resampleThreshold
:
0.5
resampleThreshold
:
0.5
particles
:
8
0
#30
particles
:
20
0
#30
xmin
:
-5.0
xmin
:
-5.0
ymin
:
-5.0
ymin
:
-5.0
xmax
:
5.0
xmax
:
5.0
...
...
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params/local_planner/dwa_params.yaml
+
2
−
2
View file @
b9af6bb1
...
@@ -18,7 +18,7 @@ DWAPlannerROS:
...
@@ -18,7 +18,7 @@ DWAPlannerROS:
# are non-negligible and small in place rotational velocities will be created.
# 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
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
theta_stopped_vel
:
0.4
acc_lim_x
:
1.0
# maximum is theoretically 2.0, but we
acc_lim_x
:
1.0
# maximum is theoretically 2.0, but we
...
@@ -39,7 +39,7 @@ DWAPlannerROS:
...
@@ -39,7 +39,7 @@ DWAPlannerROS:
# Trajectory Scoring Parameters
# Trajectory Scoring Parameters
path_distance_bias
:
64.0
# 32.0 - weighting for how much it should stick to the global path plan
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
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
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.
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
scaling_speed
:
0.25
# 0.25 - absolute velocity at which to start scaling the robot's footprint
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