From 2463921ba5cadbac9956f69d2d8b3f9f3358086d Mon Sep 17 00:00:00 2001 From: Alejandro Lopez Gestoso <alopez@iri.upc.edu> Date: Mon, 15 Nov 2021 22:26:50 +0100 Subject: [PATCH] Updated with optinal navigation parameters --- config/adc_rosnav/amcl_no_tf.yaml | 6 +++--- config/adc_rosnav/costmap/local_params.yaml | 4 ++-- config/adc_rosnav/global_planner/iri_opendrive_params.yaml | 4 ++-- 3 files changed, 7 insertions(+), 7 deletions(-) diff --git a/config/adc_rosnav/amcl_no_tf.yaml b/config/adc_rosnav/amcl_no_tf.yaml index 02cb42e..5032cf8 100644 --- a/config/adc_rosnav/amcl_no_tf.yaml +++ b/config/adc_rosnav/amcl_no_tf.yaml @@ -38,9 +38,9 @@ laser_likelihood_max_dist: 2.0 laser_model_type: 'likelihood_field' # odom parameters odom_model_type: "diff" -odom_alpha1: 10.0 -odom_alpha2: 10.0 +odom_alpha1: 1.0 +odom_alpha2: 1.0 odom_alpha3: 0.2 -odom_alpha4: 10.0 +odom_alpha4: 1.0 odom_alpha5: 0.2 tf_broadcast: false diff --git a/config/adc_rosnav/costmap/local_params.yaml b/config/adc_rosnav/costmap/local_params.yaml index 492193e..a6e76ee 100644 --- a/config/adc_rosnav/costmap/local_params.yaml +++ b/config/adc_rosnav/costmap/local_params.yaml @@ -3,8 +3,8 @@ global_frame: adc_car/odom update_frequency: 5.0 publish_frequency: 2.0 rolling_window: true -width: 5.0 -height: 5.0 +width: 3.0 +height: 3.0 resolution: 0.05 origin_x: 0.0 origin_y: 0.0 diff --git a/config/adc_rosnav/global_planner/iri_opendrive_params.yaml b/config/adc_rosnav/global_planner/iri_opendrive_params.yaml index 45e7c0e..8201302 100644 --- a/config/adc_rosnav/global_planner/iri_opendrive_params.yaml +++ b/config/adc_rosnav/global_planner/iri_opendrive_params.yaml @@ -1,9 +1,9 @@ base_global_planner: "iri_opendrive_global_planner/OpendriveGlobalPlanner" OpendriveGlobalPlanner: opendrive_frame: "opendrive" - angle_tol: 0.5 + angle_tol: 1.5707 dist_tol: 0.3 - multi_hyp: True + multi_hyp: False resolution: 0.01 scale_factor: 10.0 min_road_length: 0.01 -- GitLab