diff --git a/params/costmap/common_params.yaml b/params/costmap/common_params.yaml
index 17a8afb580dd99cc2ba79551a18c25ee2a84e8f2..fb6597964471e9b1b5fbc99491b3221371051e30 100644
--- a/params/costmap/common_params.yaml
+++ b/params/costmap/common_params.yaml
@@ -1,7 +1,7 @@
# 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: [[0.35, 0.35], [0.35, -0.35], [-0.35,-0.35 ], [-0.35, 0.35]]
+#robot_radius: 0.35
+footprint_padding: 0.01
footprint_topic: /helena/move_base/local_costmap/footprint
published_footprint_topic: false
@@ -54,6 +54,5 @@ obstacle_layer:
inflation_layer:
enabled: true
inflate_unknown: false
- inflation_radius: 2.0
- cost_scaling_factor: 5.0
- inflation_radius: 0.5
+ cost_scaling_factor: 0.5
+ inflation_radius: 1.0
diff --git a/params/costmap/local_params.yaml b/params/costmap/local_params.yaml
index 5eb2dd35ab4317e27da53760ef33b6311d323b5b..fdfa46f4e568ef1fd256d433429213d600ce2a28 100644
--- a/params/costmap/local_params.yaml
+++ b/params/costmap/local_params.yaml
@@ -11,50 +11,5 @@ origin_y: 0.0
#costmap plugins
plugins:
- - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
- - {name: inflation_layer, type: "costmap_2d::InflationLayer"}
-
-
-#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: /helena/front_hokuyo_scan_frame,
- #data_type: LaserScan,
- #topic: /helena/front_hokuyo_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: /helena/rear_hokuyo_scan_frame,
- #data_type: LaserScan,
- #topic: /helena/rear_hokuyo_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
-
+ - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
+ - {name: inflation_layer, type: "costmap_2d::InflationLayer"}
\ No newline at end of file
diff --git a/params/costmap/map/global_params.yaml b/params/costmap/map/global_params.yaml
index bc3e0adacbc0dabfc031ef312de4ec29fd97a129..aef60d4da3e1ae19918181efd4328115bd1283bf 100644
--- a/params/costmap/map/global_params.yaml
+++ b/params/costmap/map/global_params.yaml
@@ -18,47 +18,4 @@ static_layer:
use_maximum: false
lethal_cost_threshold: 100
track_unknown_space: true
- trinary_costmap: true
-
-#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: /helena/front_hokuyo_scan_frame,
- #data_type: LaserScan,
- #topic: /helena/front_hokuyo_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: /helena/rear_hokuyo_scan_frame,
- #data_type: LaserScan,
- #topic: /helena/rear_hokuyo_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
\ No newline at end of file
+ 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
index e677d08ca1b4594ad3b5f1432ededbb7ef1bad51..c78ea0f9fa605b94d20b62702f9528cc38147466 100644
--- a/params/costmap/no_map/global_params.yaml
+++ b/params/costmap/no_map/global_params.yaml
@@ -11,48 +11,5 @@ origin_x: 0.0
origin_y: 0.0
plugins:
- - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
- - {name: inflation_layer, type: "costmap_2d::InflationLayer"}
-
-#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: /helena/front_hokuyo_scan_frame,
- #data_type: LaserScan,
- #topic: /helena/front_hokuyo_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: /helena/rear_hokuyo_scan_frame,
- #data_type: LaserScan,
- #topic: /helena/rear_hokuyo_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
+ - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
+ - {name: inflation_layer, type: "costmap_2d::InflationLayer"}
\ No newline at end of file
diff --git a/params/local_planner/dwa_params.yaml b/params/local_planner/dwa_params.yaml
index 9f3073dfb8c20454dee2126184c94ee614ad99f7..a13f9db6c72757bb3fe13342da73db244d755a8a 100644
--- a/params/local_planner/dwa_params.yaml
+++ b/params/local_planner/dwa_params.yaml
@@ -11,7 +11,7 @@ DWAPlannerROS:
min_vel_y: 0.0
max_rot_vel: 2.0
min_rot_vel: -2.0
- acc_lim_theta: 3.0
+ acc_lim_theta: 5.0
acc_lim_x: 1.0
acc_lim_y: 0.0
acc_limit_trans: 1.0
@@ -33,7 +33,7 @@ DWAPlannerROS:
# Trajectory scoring parameters
path_distance_bias: 32.0
- goal_distance_bias: 32.0
+ goal_distance_bias: 24.0
occdist_scale: 0.01
twirling_scale: 0.0
stop_time_buffer: 0.2
diff --git a/rviz/helena.rviz b/rviz/helena.rviz
index bc967e1119d6353a229021a84430a961d12dc18a..b167134cee29696cbb3f8de8a9a53cc8d9f35087 100644
--- a/rviz/helena.rviz
+++ b/rviz/helena.rviz
@@ -449,7 +449,7 @@ Visualization Manager:
Topic: /helena/initialpose
Unreliable: false
Value: true
- Enabled: true
+ Enabled: false
Name: AMCL_localization
- Alpha: 0.699999988
Class: rviz/Map
@@ -469,26 +469,26 @@ Visualization Manager:
Topic: /helena/move_base/local_costmap/footprint
Unreliable: false
Value: true
- - Alpha: 0.5
+ - Alpha: 0.300000012
Class: rviz/Map
Color Scheme: costmap
Draw Behind: true
- Enabled: false
+ Enabled: true
Name: LocalCostmapMap
Topic: /helena/move_base/local_costmap/costmap
Unreliable: false
Use Timestamp: false
- Value: false
+ Value: true
- Alpha: 0.699999988
Class: rviz/Map
Color Scheme: costmap
Draw Behind: true
- Enabled: false
+ Enabled: true
Name: GlobalCostmapMap
Topic: /helena/move_base/global_costmap/costmap
Unreliable: false
Use Timestamp: false
- Value: false
+ Value: true
- Alpha: 1
Axes Length: 1
Axes Radius: 0.100000001
@@ -678,7 +678,7 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
- Distance: 24.7596321
+ Distance: 19.7382278
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1