From 25297e1742d5bbf4ed869588735e7d224c76e3ab Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A0ndez=20Juan?= <shernand@iri.upc.edu>
Date: Sun, 16 Jul 2017 21:23:52 +0200
Subject: [PATCH] Tuned the navigation parameters of the DWA local planner.
Changed the environment used for navigation.
---
.../config/dwa_local_planner_params.yaml | 30 +++++++++----------
.../launch/darwin_global_loc_sim.launch | 6 ++--
darwin_nav/launch/darwin_nav_sim.launch | 4 +--
3 files changed, 20 insertions(+), 20 deletions(-)
diff --git a/darwin_nav/config/dwa_local_planner_params.yaml b/darwin_nav/config/dwa_local_planner_params.yaml
index 974a25a..d33edd4 100644
--- a/darwin_nav/config/dwa_local_planner_params.yaml
+++ b/darwin_nav/config/dwa_local_planner_params.yaml
@@ -1,16 +1,16 @@
base_local_planner: "dwa_local_planner/DWAPlannerROS"
DWAPlannerROS:
- max_trans_vel: 0.24
+ max_trans_vel: 0.1
min_trans_vel: 0.01
- max_vel_x: 0.24
- min_vel_x: -0.24
- max_vel_y: 0.1
- min_vel_y: -0.1
- max_rot_vel: 0.1
- min_rot_vel: 0.01
-
- sim_time: 3
+ max_vel_x: 0.1
+ min_vel_x: -0.1
+ max_vel_y: 0.0
+ min_vel_y: 0.0
+ max_rot_vel: 0.4
+ min_rot_vel: 0.1
+
+ sim_time: 10
sim_granularity: 0.025
angular_sim_granularity: 0.1
@@ -26,14 +26,14 @@ DWAPlannerROS:
scaling_speed: 0.25
max_scaling_factor: 0.2
- vx_samples: 10
- vy_samples: 10
+ vx_samples: 21
+ vy_samples: 1
vth_samples: 20
- acc_lim_theta: 0.1
- acc_lim_x: 0.1
- acc_lim_y: 0.1
- acc_limit_trans: 0.1
+ acc_lim_theta: 0.3
+ acc_lim_x: 0.3
+ acc_lim_y: 0.3
+ acc_limit_trans: 0.3
rot_stopped_vel: 0.01
trans_stopped_vel: 0.01
diff --git a/darwin_nav/launch/darwin_global_loc_sim.launch b/darwin_nav/launch/darwin_global_loc_sim.launch
index c8581e1..849aaf9 100644
--- a/darwin_nav/launch/darwin_global_loc_sim.launch
+++ b/darwin_nav/launch/darwin_global_loc_sim.launch
@@ -5,8 +5,8 @@
name="qr_detector"
type="qr_detector"
output="screen">
- <param name="qr_x" value="0.14"/>
- <param name="qr_y" value="0.14"/>
+ <param name="qr_x" value="0.2"/>
+ <param name="qr_y" value="0.2"/>
<param name="camera_frame" value="/darwin/darwin_cam_link"/>
<remap from="~/camera/image_raw" to="/darwin/camera/image_raw"/>
<remap from="~/camera/camera_info" to="/darwin/camera/camera_info"/>
@@ -16,7 +16,7 @@
name="qr_global_loc"
type="qr_global_loc"
output="screen">
- <param name="qr_map_param" value="/charge_env/robot_description"/>
+ <param name="qr_map_param" value="/obstacles_environment"/>
<param name="tf_prefix" value="/darwin"/>
<param name="publish_tf" value="True"/>
<param name="publish_rate" value="20"/>
diff --git a/darwin_nav/launch/darwin_nav_sim.launch b/darwin_nav/launch/darwin_nav_sim.launch
index 3cf80c4..0d1e93e 100644
--- a/darwin_nav/launch/darwin_nav_sim.launch
+++ b/darwin_nav/launch/darwin_nav_sim.launch
@@ -2,13 +2,13 @@
<launch>
<arg name="robot" default="darwin" />
- <arg name="environment" default="charge_env" />
+ <arg name="environment" default="obstacles_env_empty" />
<include file="$(find darwin_description)/launch/darwin_sim.launch">
<arg name="robot" value="$(arg robot)" />
</include>
- <include file="$(find darwin_description)/launch/charge_env.launch">
+ <include file="$(find bioloid_description)/launch/obstacles_env.launch">
<arg name="environment" value="$(arg environment)" />
</include>
--
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