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Commit cdf806eb authored by Fernando Herrero's avatar Fernando Herrero
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CMakeLists.txt 0 → 100644
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cmake_minimum_required(VERSION 2.8.3)
project(iri_helena_rosnav)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs # Or other packages containing msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES iri_helena_rosnav
# CATKIN_DEPENDS other_catkin_pkg
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
# ${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/iri_helena_rosnav.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/iri_helena_rosnav_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_iri_helena_rosnav.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
launch/nav.launch 0 → 100644
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<?xml version="1.0"?>
<!-- -->
<launch>
<arg name="rviz" default="true"/>
<arg name="ns" default="helena"/>
<arg name="path" default="$(find iri_helena_rosnav)"/>
<arg name="map_frame_id" default="map"/>
<arg name="odom_frame_id" default="$(arg ns)/odom"/>
<arg name="base_frame_id" default="$(arg ns)/base_footprint"/>
<arg name="map_topic" default="/$(arg ns)/map"/>
<arg name="map_service" default="/$(arg ns)/static_map"/>
<arg name="odom_topic" default="/$(arg ns)/odom"/>
<arg name="cmd_vel_topic" default="/$(arg ns)/navigation/cmd_vel"/>
<arg name="scan_topic" default="/$(arg ns)/scans"/>
<arg name="use_map" default="true"/>
<arg name="use_map_server" default="true"/>
<arg name="map_name" default="willow"/>
<arg name="use_amcl" default="true"/>
<arg name="amcl_config" default="$(arg path)/params/amcl.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.yaml"/>
<arg name="resolution" default="0.1"/>
<arg name="use_cmd_vel_mux" default="true"/>
<arg name="nodelet_manager_name" default="nodelet_manager"/>
<arg name="cmd_vel_mux_config" default="$(arg path)/params/mux.yaml"/>
<arg name="local_planner" default="dwa"/>
<arg name="global_planner" default="global_planner"/>
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
<include file="$(find iri_rosnav)/launch/nav.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="path" value="$(arg path)"/>
<arg name="map_frame_id" value="$(arg map_frame_id)"/>
<arg name="odom_frame_id" value="$(arg odom_frame_id)"/>
<arg name="base_frame_id" value="$(arg base_frame_id)"/>
<arg name="map_topic" value="$(arg map_topic)"/>
<arg name="map_service" value="$(arg map_service)"/>
<arg name="odom_topic" value="$(arg odom_topic)"/>
<arg name="cmd_vel_topic" value="$(arg cmd_vel_topic)"/>
<arg name="scan_topic" value="$(arg scan_topic)"/>
<arg name="use_map_server" value="$(arg use_map_server)"/>
<arg name="map_name" value="$(arg map_name)"/>
<arg name="use_amcl" value="$(arg use_amcl)"/>
<arg name="amcl_config" value="$(arg amcl_config)"/>
<arg name="initial_x" value="$(arg initial_x)"/>
<arg name="initial_y" value="$(arg initial_y)"/>
<arg name="initial_yaw" value="$(arg initial_yaw)"/>
<arg name="use_fake_loc" value="$(arg use_fake_loc)"/>
<arg name="use_gmapping" value="$(arg use_gmapping)"/>
<arg name="gmapping_scan_topic" value="/$(arg gmapping_scan_topic)"/>
<arg name="gmapping_config" value="$(arg gmapping_config)"/>
<arg name="resolution" value="$(arg resolution)"/>
<arg name="use_cmd_vel_mux" value="$(arg use_cmd_vel_mux)"/>
<arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
<arg name="cmd_vel_mux_config" value="$(arg cmd_vel_mux_config)"/>
<arg name="local_planner" value="$(arg local_planner)"/>
<arg name="global_planner" value="$(arg global_planner)"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
<group ns="$(arg ns)">
<node name="front_laser_relay"
pkg="topic_tools"
type="relay"
args="front_hokuyo_scan $(arg scan_topic)"/>
<node name="rear_laser_relay"
pkg="topic_tools"
type="relay"
args="rear_hokuyo_scan $(arg scan_topic)"/>
</group>
<node name="rviz"
pkg="rviz"
type="rviz"
if="$(arg rviz)"
args="-d $(arg path)/rviz/$(arg ns).rviz">
</node>
</launch>
launch/nav_mapping.launch 0 → 100644
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<?xml version="1.0"?>
<!-- -->
<launch>
<arg name="rviz" default="true"/>
<arg name="ns" default="helena"/>
<arg name="path" default="$(find iri_helena_rosnav)"/>
<arg name="map_frame_id" default="map"/>
<arg name="odom_frame_id" default="$(arg ns)/odom"/>
<arg name="base_frame_id" default="$(arg ns)/base_footprint"/>
<arg name="map_topic" default="/$(arg ns)/map"/>
<arg name="map_service" default="/$(arg ns)/static_map"/>
<arg name="odom_topic" default="/$(arg ns)/odom"/>
<arg name="cmd_vel_topic" default="/$(arg ns)/navigation/cmd_vel"/>
<arg name="scan_topic" default="/$(arg ns)/scans"/>
<arg name="use_map" default="true"/>
<arg name="use_map_server" default="false"/>
<arg name="map_name" default="willow"/>
<arg name="use_amcl" default="false"/>
<arg name="amcl_config" default="$(arg path)/params/helena_amcl.yaml"/>
<arg name="initial_x" default="0.0"/>
<arg name="initial_y" default="0.0"/>
<arg name="initial_yaw" default="0.0"/>
<arg name="use_fake_loc" default="false"/>
<arg name="use_gmapping" default="true"/>
<arg name="gmapping_scan_topic" default="/$(arg ns)/front_hokuyo_scan"/>
<arg name="gmapping_config" default="$(arg path)/params/helena_gmapping.yaml"/>
<arg name="resolution" default="0.2"/>
<arg name="use_cmd_vel_mux" default="true"/>
<arg name="nodelet_manager_name" default="nodelet_manager"/>
<arg name="cmd_vel_mux_config" default="$(arg path)/params/helena_mux.yaml"/>
<arg name="local_planner" default="dwa"/>
<arg name="global_planner" default="rrt_planner"/>
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
<include file="$(find iri_rosnav)/launch/nav.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="path" value="$(arg path)"/>
<arg name="map_frame_id" value="$(arg map_frame_id)"/>
<arg name="odom_frame_id" value="$(arg odom_frame_id)"/>
<arg name="base_frame_id" value="$(arg base_frame_id)"/>
<arg name="map_topic" value="$(arg map_topic)"/>
<arg name="map_service" value="$(arg map_service)"/>
<arg name="odom_topic" value="$(arg odom_topic)"/>
<arg name="cmd_vel_topic" value="$(arg cmd_vel_topic)"/>
<arg name="scan_topic" value="$(arg scan_topic)"/>
<arg name="use_map_server" value="$(arg use_map_server)"/>
<arg name="map_name" value="$(arg map_name)"/>
<arg name="use_amcl" value="$(arg use_amcl)"/>
<arg name="amcl_config" value="$(arg amcl_config)"/>
<arg name="initial_x" value="$(arg initial_x)"/>
<arg name="initial_y" value="$(arg initial_y)"/>
<arg name="initial_yaw" value="$(arg initial_yaw)"/>
<arg name="use_fake_loc" value="$(arg use_fake_loc)"/>
<arg name="use_gmapping" value="$(arg use_gmapping)"/>
<arg name="gmapping_scan_topic" value="/$(arg gmapping_scan_topic)"/>
<arg name="gmapping_config" value="$(arg gmapping_config)"/>
<arg name="resolution" value="$(arg resolution)"/>
<arg name="use_cmd_vel_mux" value="$(arg use_cmd_vel_mux)"/>
<arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
<arg name="cmd_vel_mux_config" value="$(arg cmd_vel_mux_config)"/>
<arg name="local_planner" value="$(arg local_planner)"/>
<arg name="global_planner" value="$(arg global_planner)"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
<group ns="$(arg ns)">
<node name="front_laser_relay"
pkg="topic_tools"
type="relay"
args="front_hokuyo_scan $(arg scan_topic)"/>
<node name="rear_laser_relay"
pkg="topic_tools"
type="relay"
args="rear_hokuyo_scan $(arg scan_topic)"/>
</group>
<node name="rviz"
pkg="rviz"
type="rviz"
if="$(arg rviz)"
args="-d $(find iri_helena_rosnav)/rviz/$(arg ns).rviz">
</node>
</launch>
package.xml 0 → 100644
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<?xml version="1.0"?>
<package format="2">
<name>iri_helena_rosnav</name>
<version>0.0.0</version>
<description>The iri_helena_rosnav package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="fherrero@todo.todo">fherrero</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/iri_helena_rosnav</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
params/amcl.yaml 0 → 100644
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map_frame_id: map
odom_frame_id: helena/odom
base_frame_id: helena/base_footprint
initial_x: 0.0
initial_y: 0.0
initial_a: 0.0
# filer parameters
min_particles: 100
max_particles: 5000
kld_err: 0.01
kld_z: 0.99
update_min_d: 0.2
update_min_a: 0.5236
resample_interval: 2
transform_tolerance: 0.1
recovery_alpha_slow: 0.0
recovery_alpha_fast: 0.0
initial_cov_xx: 0.25
initial_cov_yy: 0.25
initial_cov_aa: 0.0685
gui_publish_rate: -1.0
save_pose_rate: 0.5
use_map_topic: false
first_map_only: false
# laser parameters
laser_min_range: -1.0
laser_max_range: -1.0
laser_max_beams: 30
laser_z_hit: 0.95
laser_z_short: 0.1
laser_z_max: 0.05
laser_z_rand: 0.05
laser_sigma_hit: 0.2
laser_lambda_short: 0.1
laser_likelihood_max_dist: 2.0
laser_model_type: 'likelihood_field'
# odom parameters
odom_model_type: "diff"
odom_alpha1: 0.2
odom_alpha2: 0.2
odom_alpha3: 0.2
odom_alpha4: 0.2
odom_alpha5: 0.2
tf_broadcast: true
params/costmap/common_params.yaml 0 → 100644
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# 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: /helena/move_base/local_costmap/footprint
published_footprint_topic: false
robot_base_frame: /helena/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: /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
params/costmap/local_params.yaml 0 → 100644
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#local_costmap: ###namespace added when loading parameters in move_base.launch
global_frame: /helena/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"}
#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
params/costmap/map/global_params.yaml 0 → 100644
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#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
#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
params/costmap/no_map/global_params.yaml 0 → 100644
+ 58
− 0
View file @ cdf806eb
#global_costmap: ###namespace added when loading parameters in move_base.launch
global_frame: /helena/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"}
#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
params/global_planner/global_planner_params.yaml 0 → 100644
+ 22
− 0
View file @ cdf806eb
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
params/global_planner/rrt_planner_params.yaml 0 → 100644
+ 20
− 0
View file @ cdf806eb
base_global_planner: "rrt_planner/RrtPlanner"
RrtPlanner:
debug: true
star: true
dimension: 2
range: 17.0
precision: 0.1
neighbour_threshold: 1
max_nodes: 2000
max_time: 0.5
#reconfigurable
robot_radius: 0.5
frequency: 1
frame_id: map
frame_map: map
cost_function_type: 1 #0:Euclidean, 1: SFM
simulator_type: 1 #0:Static, 1: ConstSpeed, 2: LinearSFM
edge_connector_type: 0 #0:Linear
\ No newline at end of file
params/gmapping.yaml 0 → 100644
+ 31
− 0
View file @ cdf806eb
map_update_interval: 5.0
maxUrange: 29.0
sigma: 0.05
kernelSize: 1
lstep: 0.05
astep: 0.05
iterations: 5
lsigma: 0.075
ogain: 3.0
lskip: 0
srr: 0.1
srt: 0.2
str: 0.1
stt: 0.2
linearUpdate: 0.5
angularUpdate: 0.5
temporalUpdate: 10.0
resampleThreshold: 0.5
particles: 80
xmin: -5.0
ymin: -5.0
xmax: 5.0
ymax: 5.0
delta: 0.1
llsamplerange: 0.01
llsamplestep: 0.01
lasamplerange: 0.005
lasamplestep: 0.005
\ No newline at end of file
params/local_planner/dwa_params.yaml 0 → 100644
+ 54
− 0
View file @ cdf806eb
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: 0.2
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
params/move_base_params.yaml 0 → 100644
+ 23
− 0
View file @ cdf806eb
#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
params/mux.yaml 0 → 100644
+ 27
− 0
View file @ cdf806eb
subscribers:
- name: "Default input"
topic: "/helena/default/cmd_vel"
timeout: 0.1
priority: 0
short_desc: "The default cmd_vel, controllers unaware that we are multiplexing cmd_vel should come here"
- name: "Platform orientation"
topic: "/helena/orientation/cmd_vel"
timeout: 0.1
priority: 4
short_desc: "Platform orientation to people"
- name: "Navigation stack"
topic: "/helena/navigation/cmd_vel"
timeout: 0.5
priority: 5
short_desc: "Navigation stack controller"
- name: "Teleop"
topic: "/helena/teleop/cmd_vel"
timeout: 0.1
priority: 10
short_desc: "Teleop wii/ps3 pad"
#publisher: "/helena/mux/cmd_vel"
publisher: "/helena/cmd_vel"
rviz/helena.rviz 0 → 100644
+ 638
− 0
View file @ cdf806eb
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Status1
- /Sensors1
- /Sensors1/Odometry1/Shape1
- /Nav1
Splitter Ratio: 0.5
Tree Height: 633
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: FrontLaserScan
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
helena/base_footprint:
Value: true
helena/base_link:
Value: true
helena/front_hokuyo_base:
Value: true
helena/front_hokuyo_scan_frame:
Value: true
helena/front_left_axle:
Value: true
helena/front_left_hub:
Value: true
helena/front_left_wheel:
Value: true
helena/front_right_axle:
Value: true
helena/front_right_hub:
Value: true
helena/front_right_wheel:
Value: true
helena/front_sonar:
Value: true
helena/odom:
Value: true
helena/rear_hokuyo_base:
Value: true
helena/rear_hokuyo_scan_frame:
Value: true
helena/rear_left_axle:
Value: true
helena/rear_left_hub:
Value: true
helena/rear_left_wheel:
Value: true
helena/rear_right_axle:
Value: true
helena/rear_right_hub:
Value: true
helena/rear_right_wheel:
Value: true
helena/rear_sonar:
Value: true
helena/sensors_base:
Value: true
helena/top_plate:
Value: true
map:
Value: true
Marker Scale: 0.5
Name: TF
Show Arrows: false
Show Axes: true
Show Names: true
Tree:
map:
helena/odom:
helena/base_footprint:
helena/base_link:
helena/front_left_axle:
helena/front_left_hub:
helena/front_left_wheel:
{}
helena/front_right_axle:
helena/front_right_hub:
helena/front_right_wheel:
{}
helena/front_sonar:
{}
helena/rear_left_axle:
helena/rear_left_hub:
helena/rear_left_wheel:
{}
helena/rear_right_axle:
helena/rear_right_hub:
helena/rear_right_wheel:
{}
helena/rear_sonar:
{}
helena/sensors_base:
helena/front_hokuyo_base:
helena/front_hokuyo_scan_frame:
{}
helena/rear_hokuyo_base:
helena/rear_hokuyo_scan_frame:
{}
helena/top_plate:
{}
Update Interval: 0
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_hokuyo_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_hokuyo_scan_frame:
Alpha: 1
Show Axes: false
Show Trail: false
front_left_axle:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_left_hub:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_left_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_right_axle:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_right_hub:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_right_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_sonar:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_hokuyo_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_hokuyo_scan_frame:
Alpha: 1
Show Axes: false
Show Trail: false
rear_left_axle:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_left_hub:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_left_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_right_axle:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_right_hub:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_right_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_sonar:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
sensors_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
top_plate:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: helena/robot_description
TF Prefix: helena
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/Group
Displays:
- Angle Tolerance: 0.300000012
Class: rviz/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.300000012
Color: 204; 51; 204
Scale: 1
Value: true
Value: false
Enabled: true
Keep: 100
Name: Odometry
Position Tolerance: 0.300000012
Shape:
Alpha: 0.5
Axes Length: 1
Axes Radius: 0.100000001
Color: 255; 25; 0
Head Length: 0.0500000007
Head Radius: 0.0500000007
Shaft Length: 0.25
Shaft Radius: 0.0250000004
Value: Arrow
Topic: /helena/odom
Unreliable: false
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/LaserScan
Color: 255; 85; 0
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 999999
Min Color: 0; 0; 0
Min Intensity: 999999
Name: FrontLaserScan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.00999999978
Style: Points
Topic: /helena/front_hokuyo_scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/LaserScan
Color: 255; 170; 127
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 999999
Min Color: 0; 0; 0
Min Intensity: 999999
Name: RearLaserScan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.00999999978
Style: Points
Topic: /helena/rear_hokuyo_scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true
Name: Sensors
- Class: rviz/Group
Displays:
- Alpha: 0.699999988
Class: rviz/Map
Color Scheme: map
Draw Behind: true
Enabled: true
Name: Map
Topic: /helena/map
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 1
Class: rviz/Polygon
Color: 25; 255; 0
Enabled: true
Name: FootprintPolygon
Topic: /helena/move_base/local_costmap/footprint
Unreliable: false
Value: true
- Alpha: 0.5
Class: rviz/Map
Color Scheme: costmap
Draw Behind: true
Enabled: false
Name: LocalCostmapMap
Topic: /helena/move_base/local_costmap/costmap
Unreliable: false
Use Timestamp: false
Value: false
- Alpha: 0.699999988
Class: rviz/Map
Color Scheme: costmap
Draw Behind: true
Enabled: false
Name: GlobalCostmapMap
Topic: /helena/move_base/global_costmap/costmap
Unreliable: false
Use Timestamp: false
Value: false
- Alpha: 1
Axes Length: 1
Axes Radius: 0.100000001
Class: rviz/Pose
Color: 255; 255; 0
Enabled: true
Head Length: 0.300000012
Head Radius: 0.100000001
Name: GoalPose
Shaft Length: 1
Shaft Radius: 0.0500000007
Shape: Arrow
Topic: /helena/move_base_simple/goal
Unreliable: false
Value: true
- Class: rviz/Group
Displays:
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 255; 0; 0
Enabled: true
Head Diameter: 0.300000012
Head Length: 0.200000003
Length: 0.300000012
Line Style: Lines
Line Width: 0.0299999993
Name: LocalPath
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.0299999993
Shaft Diameter: 0.100000001
Shaft Length: 0.100000001
Topic: /helena/move_base/DWAPlannerROS/local_plan
Unreliable: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 25; 255; 0
Enabled: true
Head Diameter: 0.300000012
Head Length: 0.200000003
Length: 0.300000012
Line Style: Lines
Line Width: 0.0299999993
Name: GlobalPath
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.0299999993
Shaft Diameter: 0.100000001
Shaft Length: 0.100000001
Topic: /helena/move_base/DWAPlannerROS/global_plan
Unreliable: false
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: total_cost
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 622.77002
Min Color: 0; 0; 0
Min Intensity: 0
Name: CostPointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 10
Size (m): 0.100000001
Style: Points
Topic: /helena/move_base/DWAPlannerROS/cost_cloud
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: total_cost
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 67.1999969
Min Color: 0; 0; 0
Min Intensity: 62.4000015
Name: TrajectoryPointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 10
Size (m): 0.00999999978
Style: Squares
Topic: /helena/move_base/DWAPlannerROS/trajectory_cloud
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
Enabled: true
Name: DWA_local_planner
- Class: rviz/Group
Displays:
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 25; 255; 0
Enabled: true
Head Diameter: 0.300000012
Head Length: 0.200000003
Length: 0.300000012
Line Style: Lines
Line Width: 0.0299999993
Name: GlobalPath
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.0299999993
Shaft Diameter: 0.100000001
Shaft Length: 0.100000001
Topic: /helena/move_base/GlobalPlanner/plan
Unreliable: false
Value: true
- Alpha: 0.699999988
Class: rviz/Map
Color Scheme: costmap
Draw Behind: true
Enabled: false
Name: PotentialMap
Topic: /helena/move_base/GlobalPlanner/potential
Unreliable: false
Use Timestamp: false
Value: false
Enabled: true
Name: GlobalPlanner
Enabled: true
Name: Nav
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: map
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /helena/initialpose
- Class: rviz/SetGoal
Topic: /helena/move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
- Attractors: ~
Class: rviz_sfm_plugins/SetAttractor2D
- Class: rviz_sfm_plugins/SetRepulsor2D
Repulsors: ~
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 17.6234169
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: false
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.785398185
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.785398185
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 846
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000308fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000308000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000308fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000308000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650000000000000004b00000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003400000030800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1200
X: 75
Y: 34
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