Commit ca97029c authored by Fernando Herrero's avatar Fernando Herrero
Browse files

Add generic nav parameters, fix fake_loc launch remaps

parent 0501f296
......@@ -30,9 +30,9 @@
<param name="delta_x" value="$(arg initial_x)" />
<param name="delta_y" value="$(arg initial_y)" />
<param name="delta_yaw" value="$(arg initial_yaw)" />
<remap from="/odom" to="$(arg odom_topic)"/>
<remap from="base_pose_ground_truth" to="$(arg ground_truth_topic)"/>
<remap from="initialpose" to="$(arg initialpose_topic)"/>
<remap from="/odom" to="/$(arg odom_topic)"/>
<remap from="base_pose_ground_truth" to="/$(arg ground_truth_topic)"/>
<remap from="initialpose" to="/$(arg initialpose_topic)"/>
</node>
</group>
......
......@@ -15,18 +15,18 @@
<arg name="use_map_server" default="true"/>
<arg name="map_name" default="willow"/>
<arg name="use_amcl" default="true"/>
<arg name="amcl_config" default="$(arg path)/params/amcl_default.yaml"/>
<arg name="amcl_config" default="$(arg path)/params/amcl.yaml"/>
<arg name="initial_x" default="0.0"/>
<arg name="initial_y" default="0.0"/>
<arg name="initial_yaw" default="0.0"/>
<arg name="use_fake_loc" default="false"/>
<arg name="use_gmapping" default="false"/>
<arg name="gmapping_scan_topic" default="/$(arg ns)/front_hokuyo_scan"/>
<arg name="gmapping_config" default="$(arg path)/params/gmapping_default.yaml"/>
<arg name="gmapping_config" default="$(arg path)/params/gmapping.yaml"/>
<arg name="resolution" default="0.1"/>
<arg name="use_cmd_vel_mux" default="false"/>
<arg name="nodelet_manager_name" default="nodelet_manager"/>
<arg name="cmd_vel_mux_config" default="$(arg path)/params/cmdvelmux_default.yaml"/>
<arg name="cmd_vel_mux_config" default="$(arg path)/params/mux.yaml"/>
<arg name="use_move_base" default="true"/>
<arg name="local_planner" default="dwa"/>
<arg name="global_planner" default="global_planner"/>
......@@ -62,7 +62,7 @@
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
</group>
<group if="$(arg use_gmapping)">
<include file="$(find iri_rosnav)/launch/include/gmapping.launch">
<arg name="ns" value="$(arg ns)"/>
......@@ -79,6 +79,17 @@
</group>
</group>
<group unless="$(arg use_map)">
<node pkg="tf"
type="static_transform_publisher"
name="static_tf_map"
ns="$(arg ns)"
args=" 0 0 0 0 0 0 $(arg map_frame_id) $(arg odom_frame_id) 100">
</node>
</group>
<group if="$(arg use_fake_loc)">
<include file="$(find iri_rosnav)/launch/include/fake_loc.launch">
<arg name="ns" value="$(arg ns)"/>
......@@ -89,6 +100,7 @@
<arg name="initial_y" value="$(arg initial_y)"/>
<arg name="initial_yaw" value="$(arg initial_yaw)"/>
<arg name="odom_topic" value="$(arg odom_topic)"/>
<arg name="ground_truth_topic" value="$(arg odom_topic)"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
......
#map_frame_id: map
#odom_frame_id: odom
#base_frame_id: base_link
map_frame_id: map
odom_frame_id: robot/odom
base_frame_id: robot/base_footprint
initial_x: 0.0
initial_y: 0.0
initial_a: 0.0
......
# footprint parameters
#footprint: [[0.35, 0.35], [0.35, -0.35], [-0.35,-0.35 ], [-0.35, 0.35]]
robot_radius: 0.5
footprint_padding: -0.1
footprint_topic: /robot/move_base/local_costmap/footprint
published_footprint_topic: false
robot_base_frame: /robot/base_footprint
track_unknown_space: false
always_send_full_costmap: false
transform_tolerance: 1.0
width: 10.0
height: 10.0
resolution: 0.1
origin_x: 0.0
origin_y: 0.0
obstacle_layer:
enabled: true
track_unknown_space: true
transform_tolerance: 0.2
max_obstacle_height: 1.0
footprint_clearing_enabled: false
combination_method: 1
observation_sources: front_laser rear_laser
front_laser: {
sensor_frame: /robot/front_hokuyo_scan_frame,
data_type: LaserScan,
topic: /robot/sensors/front_scan,
observation_persistence: 0.0,
marking: true,
clearing: true,
min_obstacle_height: 0.05,
max_obstacle_height: 1.8,
expected_update_rate: 10,
obstacle_range: 30.0,
raytrace_range: 40.0
}
rear_laser: {
sensor_frame: /robot/rear_hokuyo_scan_frame,
data_type: LaserScan,
topic: /robot/sensors/rear_scan,
observation_persistence: 0.0,
marking: true,
clearing: true,
min_obstacle_height: 0.05,
max_obstacle_height: 1.8,
expected_update_rate: 10,
obstacle_range: 30.0,
raytrace_range: 40.0
}
inflation_layer:
enabled: true
inflate_unknown: false
inflation_radius: 2.0
cost_scaling_factor: 5.0
inflation_radius: 0.5
#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, type: "costmap_2d::ObstacleLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
#global_costmap: ###namespace added when loading parameters in move_base.launch
global_frame: /map
update_frequency: 1.0
publish_frequency: 0.0
rolling_window: false
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: obstacle_layer, 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
\ No newline at end of file
#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, type: "costmap_2d::VoxelLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
\ No newline at end of file
base_global_planner: "global_planner/GlobalPlanner"
GlobalPlanner: #default
allow_unknown: false
default_tolerance: 0.0
publish_potential: false
publish_scale: 100
old_navfn_behavior: false
planner_costmap_publish_frequency: 0.0
#planner to use
use_dijkstra: true
use_quadratic: true
use_grid_path: false
# planner parameters
lethal_cost: 253
neutral_cost: 50
cost_factor: 3.0
planner_window_x: 0.0
planner_window_y: 0.0
# orientation fileter
orientation_mode: 0
orientation_window_size: 1
base_local_planner: "dwa_local_planner/DWAPlannerROS"
latch_xy_goal_tolerance: true
DWAPlannerROS:
# robot configuration parameters
max_trans_vel: 0.5
min_trans_vel: 0.1
max_vel_x: 0.5
min_vel_x: -0.5
max_vel_y: 0.0
min_vel_y: 0.0
max_rot_vel: 2.0
min_rot_vel: -2.0
acc_lim_theta: 3.0
acc_lim_x: 1.0
acc_lim_y: 0.0
acc_limit_trans: 1.0
rot_stopped_vel: 0.1
trans_stopped_vel: 0.1
# goal tolerance parameters
xy_goal_tolerance: 0.1
yaw_goal_tolerance: 0.1
# Forward simulation parameters
sim_time: 2.5
sim_granularity: 0.1
angular_sim_granularity: 0.1
vx_samples: 21
vy_samples: 1
vth_samples: 20
controller_frequency: 20.0 # defines the sim_period
# Trajectory scoring parameters
path_distance_bias: 32.0
goal_distance_bias: 32.0
occdist_scale: 0.01
twirling_scale: 0.0
stop_time_buffer: 0.2
forward_point_distance: 0.325
scaling_speed: 0.25
max_scaling_factor: 0.2
# Oscillation prevention parameters
oscillation_reset_dist: 0.05
oscillation_reset_angle: 0.2
# global plan parameters
prune_plan: true
#not in dynamic reconfigure
publish_traj_pc: false
#global_frame_id: /robot/base_footprint
publish_cost_grid_pc: false
#base_global_planner: #defined in the global planner parameter file
#base_local_planner: #define in the local planner parameter file
recovery_behavior_enabled: false
recovery_behaviors:
- {name: conservative_reset, type: clear_costmap_recovery/ClearCostmapRecovery}
- {name: rotate_recovery, type: rotate_recovery/RotateRecovery}
- {name: aggressive_reset, type: clear_costmap_recovery/ClearCostmapRecovery}
controller_frequency: 10.0
planner_patience: 5.0
controller_patience: 5.0
planner_frequency: 0.0
max_planning_retries: -1
conservative_reset_dist: 3.0
clearing_rotation_allowed: false
clearing_radius: 0.46
shutdown_costmaps: false
oscillation_timeout: 0.0
oscillation_distance: 0.5
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