From 9971d156a400e36f43c985934a6ec9013f3fa1c7 Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Thu, 15 Dec 2022 11:13:17 +0100
Subject: [PATCH] Remove custom recovery behaviors
---
params/global_planner/rrt_planner_params.yaml | 29 -------------------
params/move_base_params.yaml | 10 ++-----
params/rrt_move_base_params.yaml | 29 -------------------
3 files changed, 2 insertions(+), 66 deletions(-)
delete mode 100644 params/global_planner/rrt_planner_params.yaml
delete mode 100644 params/rrt_move_base_params.yaml
diff --git a/params/global_planner/rrt_planner_params.yaml b/params/global_planner/rrt_planner_params.yaml
deleted file mode 100644
index a5bf6ea..0000000
--- a/params/global_planner/rrt_planner_params.yaml
+++ /dev/null
@@ -1,29 +0,0 @@
-base_global_planner: "rrt_planner/RrtPlanner"
-
-RrtPlanner:
- # Global
- debug: true
- outmap_prohibited: true
- smooth_path: true
-
- # RRT parameters
- dimension: 2
- # reconfigurable
- star: true
- range: 35.0
- precision: 0.1
- map_precision: 0.2
- neighbour_threshold: 0.4
- costfunc_orig_w: 0.5
- max_nodes: 30000
- max_time: 3.0
- robot_radius: 0.3
- robot_speed: 0.5
- rate: 1
- frame_id: map
-
- cost_function_type: 1 #0: Euclidean, 1: SRS
- sampler_type: 1 #0: UniformTree, 1: UniformCSpace, 2: Density
- simulator_type: 1 #0: Static, 1: ConstSpeed, 2: LinearSRS
- edge_connector_type: 0 #0: Linear
-
diff --git a/params/move_base_params.yaml b/params/move_base_params.yaml
index 4cc23ae..4f0a149 100644
--- a/params/move_base_params.yaml
+++ b/params/move_base_params.yaml
@@ -3,11 +3,9 @@
recovery_behavior_enabled: false
recovery_behaviors:
- - {name: rotational_recovery, type: rotational_recovery/RotationalRecovery}
- {name: conservative_reset, type: clear_costmap_recovery/ClearCostmapRecovery}
- - {name: rotate_recovery, type: rotate_recovery/RotateRecovery}
- - {name: twist_recovery, type: twist_recovery/TwistRecovery}
- - {name: aggressive_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
@@ -17,10 +15,6 @@ max_planning_retries: -1
conservative_reset_dist: 3.0
-linear_x: -0.5
-linear_y: 0.0
-angular_z: 0.0
-
clearing_rotation_allowed: false
clearing_radius: 0.46
shutdown_costmaps: false
diff --git a/params/rrt_move_base_params.yaml b/params/rrt_move_base_params.yaml
deleted file mode 100644
index 4d64aa3..0000000
--- a/params/rrt_move_base_params.yaml
+++ /dev/null
@@ -1,29 +0,0 @@
-#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: rotational_recovery, type: rotational_recovery/RotationalRecovery}
- - {name: conservative_reset, type: clear_costmap_recovery/ClearCostmapRecovery}
- - {name: rotate_recovery, type: rotate_recovery/RotateRecovery}
- - {name: twist_recovery, type: twist_recovery/TwistRecovery}
- - {name: aggressive_reset, type: clear_costmap_recovery/ClearCostmapRecovery}
-
-controller_frequency: 4.0
-planner_patience: 8.0
-controller_patience: 5.0
-planner_frequency: 5.0
-max_planning_retries: 5.0
-
-conservative_reset_dist: 3.0
-
-linear_x: -0.5
-linear_y: 0.0
-angular_z: 0.0
-
-clearing_rotation_allowed: false
-clearing_radius: 0.46
-shutdown_costmaps: false
-
-oscillation_timeout: -1.0
-oscillation_distance: 0.2
--
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