diff --git a/params/costmap/common_params.yaml b/params/costmap/common_params.yaml
index fb6597964471e9b1b5fbc99491b3221371051e30..73c725c3d20fc075dcfbde12c5c24ea115f45b76 100644
--- a/params/costmap/common_params.yaml
+++ b/params/costmap/common_params.yaml
@@ -1,5 +1,5 @@
# footprint parameters
-footprint: [[0.35, 0.35], [0.35, -0.35], [-0.35,-0.35 ], [-0.35, 0.35]]
+footprint: [[0.3,0.25],[0.3,-0.25],[-0.3,-0.25],[-0.3,0.25]]
#robot_radius: 0.35
footprint_padding: 0.01
footprint_topic: /helena/move_base/local_costmap/footprint
@@ -54,5 +54,5 @@ obstacle_layer:
inflation_layer:
enabled: true
inflate_unknown: false
- cost_scaling_factor: 0.5
- inflation_radius: 1.0
+ cost_scaling_factor: 2.0
+ inflation_radius: 1.0
\ No newline at end of file
diff --git a/params/costmap/local_params.yaml b/params/costmap/local_params.yaml
index fdfa46f4e568ef1fd256d433429213d600ce2a28..a6f1022fde2c6bf2bd0d4adcda40e34331bc453c 100644
--- a/params/costmap/local_params.yaml
+++ b/params/costmap/local_params.yaml
@@ -5,11 +5,11 @@ publish_frequency: 2.0
rolling_window: true
width: 10.0
height: 10.0
-resolution: 0.1
+resolution: 0.05
origin_x: 0.0
origin_y: 0.0
#costmap plugins
plugins:
- - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
+ - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
\ 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 c78ea0f9fa605b94d20b62702f9528cc38147466..f85664cbbfe472799aac674fa78325e6d96a59e0 100644
--- a/params/costmap/no_map/global_params.yaml
+++ b/params/costmap/no_map/global_params.yaml
@@ -4,9 +4,9 @@ update_frequency: 1.0
publish_frequency: 0.0
rolling_window: true
transform_tolerance: 1.0
-width: 20.0
-height: 20.0
-resolution: 0.2
+width: 30.0
+height: 30.0
+resolution: 0.1
origin_x: 0.0
origin_y: 0.0
diff --git a/params/local_planner/dwa_params.yaml b/params/local_planner/dwa_params.yaml
index a13f9db6c72757bb3fe13342da73db244d755a8a..d6e7bb71e11320c65a66559b2745d42e90a27c49 100644
--- a/params/local_planner/dwa_params.yaml
+++ b/params/local_planner/dwa_params.yaml
@@ -10,7 +10,7 @@ DWAPlannerROS:
max_vel_y: 0.0
min_vel_y: 0.0
max_rot_vel: 2.0
- min_rot_vel: -2.0
+ min_rot_vel: 0.2
acc_lim_theta: 5.0
acc_lim_x: 1.0
acc_lim_y: 0.0
@@ -34,7 +34,7 @@ DWAPlannerROS:
# Trajectory scoring parameters
path_distance_bias: 32.0
goal_distance_bias: 24.0
- occdist_scale: 0.01
+ occdist_scale: 0.02 #0.01
twirling_scale: 0.0
stop_time_buffer: 0.2
forward_point_distance: 0.325
@@ -50,5 +50,5 @@ DWAPlannerROS:
#not in dynamic reconfigure
publish_traj_pc: false
- #global_frame_id: /robot/base_footprint
+ global_frame_id: /helena/odom
publish_cost_grid_pc: false
diff --git a/rviz/helena.rviz b/rviz/helena.rviz
index b167134cee29696cbb3f8de8a9a53cc8d9f35087..f1916e84464f81a35fdf5542d430e001c6f55c46 100644
--- a/rviz/helena.rviz
+++ b/rviz/helena.rviz
@@ -13,7 +13,7 @@ Panels:
- /Nav1/DWA_local_planner1
- /Nav1/GlobalPlanner1
Splitter Ratio: 0.5
- Tree Height: 633
+ Tree Height: 700
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
@@ -33,6 +33,8 @@ Panels:
Name: Time
SyncMode: 0
SyncSource: FrontLaserScan
+Toolbars:
+ toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
@@ -479,7 +481,7 @@ Visualization Manager:
Unreliable: false
Use Timestamp: false
Value: true
- - Alpha: 0.699999988
+ - Alpha: 0.100000001
Class: rviz/Map
Color Scheme: costmap
Draw Behind: true
@@ -552,7 +554,7 @@ Visualization Manager:
Topic: /helena/move_base/DWAPlannerROS/global_plan
Unreliable: false
Value: true
- - Alpha: 1
+ - Alpha: 0.5
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
@@ -567,7 +569,7 @@ Visualization Manager:
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
- Max Intensity: 622.77002
+ Max Intensity: 591.200012
Min Color: 0; 0; 0
Min Intensity: 0
Name: CostPointCloud2
@@ -575,8 +577,8 @@ Visualization Manager:
Queue Size: 10
Selectable: true
Size (Pixels): 10
- Size (m): 0.100000001
- Style: Points
+ Size (m): 0.0399999991
+ Style: Boxes
Topic: /helena/move_base/DWAPlannerROS/cost_cloud
Unreliable: false
Use Fixed Frame: true
@@ -678,7 +680,7 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
- Distance: 19.7382278
+ Distance: 43.6349297
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
@@ -693,18 +695,18 @@ Visualization Manager:
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
- Pitch: 0.785398185
+ Pitch: 1.45539761
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
- Yaw: 0.785398185
+ Yaw: 1.61539745
Saved: ~
Window Geometry:
Displays:
collapsed: false
- Height: 846
+ Height: 913
Hide Left Dock: false
Hide Right Dock: false
- QMainWindow State: 000000ff00000000fd00000004000000000000016a00000308fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000308000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000308fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000308000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650000000000000004b00000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003400000030800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ QMainWindow State: 000000ff00000000fd00000004000000000000016a0000034bfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000034b000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000034bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000034b000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650000000000000004b00000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004ed0000034b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
@@ -713,6 +715,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: false
- Width: 1200
+ Width: 1629
X: 75
Y: 34