From ca97029cb6b5fb2d39fa976a8c6f77cf6f4a33c6 Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Mon, 25 Feb 2019 17:03:09 +0100
Subject: [PATCH] Add generic nav parameters, fix fake_loc launch remaps
---
launch/include/fake_loc.launch | 6 +-
launch/nav.launch | 20 +++++--
params/{amcl_default.yaml => amcl.yaml} | 6 +-
params/costmap/common_params.yaml | 59 +++++++++++++++++++
params/costmap/local_params.yaml | 15 +++++
params/costmap/map/global_params.yaml | 21 +++++++
params/costmap/no_map/global_params.yaml | 15 +++++
.../global_planner/global_planner_params.yaml | 22 +++++++
.../{gmapping_default.yaml => gmapping.yaml} | 0
params/local_planner/dwa_params.yaml | 54 +++++++++++++++++
params/move_base_params.yaml | 23 ++++++++
params/{cmdvelmux_default.yaml => mux.yaml} | 0
12 files changed, 231 insertions(+), 10 deletions(-)
rename params/{amcl_default.yaml => amcl.yaml} (91%)
create mode 100644 params/costmap/common_params.yaml
create mode 100644 params/costmap/local_params.yaml
create mode 100644 params/costmap/map/global_params.yaml
create mode 100644 params/costmap/no_map/global_params.yaml
create mode 100644 params/global_planner/global_planner_params.yaml
rename params/{gmapping_default.yaml => gmapping.yaml} (100%)
create mode 100644 params/local_planner/dwa_params.yaml
create mode 100644 params/move_base_params.yaml
rename params/{cmdvelmux_default.yaml => mux.yaml} (100%)
diff --git a/launch/include/fake_loc.launch b/launch/include/fake_loc.launch
index 0078bff..a5e22d0 100644
--- a/launch/include/fake_loc.launch
+++ b/launch/include/fake_loc.launch
@@ -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="/$(arg initialpose_topic)"/>
</node>
</group>
diff --git a/launch/nav.launch b/launch/nav.launch
index f80c230..61c0284 100644
--- a/launch/nav.launch
+++ b/launch/nav.launch
@@ -15,18 +15,18 @@
<arg name="use_map_server" default="true"/>
<arg name="map_name" default="willow"/>
<arg name="use_amcl" default="true"/>
- <arg name="amcl_config" default="$(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>
diff --git a/params/amcl_default.yaml b/params/amcl.yaml
similarity index 91%
rename from params/amcl_default.yaml
rename to params/amcl.yaml
index 027ace2..66df324 100644
--- a/params/amcl_default.yaml
+++ b/params/amcl.yaml
@@ -1,6 +1,6 @@
-#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
diff --git a/params/costmap/common_params.yaml b/params/costmap/common_params.yaml
new file mode 100644
index 0000000..d059da1
--- /dev/null
+++ b/params/costmap/common_params.yaml
@@ -0,0 +1,59 @@
+# 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
diff --git a/params/costmap/local_params.yaml b/params/costmap/local_params.yaml
new file mode 100644
index 0000000..54ec429
--- /dev/null
+++ b/params/costmap/local_params.yaml
@@ -0,0 +1,15 @@
+#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"}
diff --git a/params/costmap/map/global_params.yaml b/params/costmap/map/global_params.yaml
new file mode 100644
index 0000000..aef60d4
--- /dev/null
+++ b/params/costmap/map/global_params.yaml
@@ -0,0 +1,21 @@
+#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
diff --git a/params/costmap/no_map/global_params.yaml b/params/costmap/no_map/global_params.yaml
new file mode 100644
index 0000000..a72fe5e
--- /dev/null
+++ b/params/costmap/no_map/global_params.yaml
@@ -0,0 +1,15 @@
+#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
diff --git a/params/global_planner/global_planner_params.yaml b/params/global_planner/global_planner_params.yaml
new file mode 100644
index 0000000..43e309e
--- /dev/null
+++ b/params/global_planner/global_planner_params.yaml
@@ -0,0 +1,22 @@
+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
diff --git a/params/gmapping_default.yaml b/params/gmapping.yaml
similarity index 100%
rename from params/gmapping_default.yaml
rename to params/gmapping.yaml
diff --git a/params/local_planner/dwa_params.yaml b/params/local_planner/dwa_params.yaml
new file mode 100644
index 0000000..38a3b40
--- /dev/null
+++ b/params/local_planner/dwa_params.yaml
@@ -0,0 +1,54 @@
+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
diff --git a/params/move_base_params.yaml b/params/move_base_params.yaml
new file mode 100644
index 0000000..d64f555
--- /dev/null
+++ b/params/move_base_params.yaml
@@ -0,0 +1,23 @@
+#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
diff --git a/params/cmdvelmux_default.yaml b/params/mux.yaml
similarity index 100%
rename from params/cmdvelmux_default.yaml
rename to params/mux.yaml
--
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