fix param for real robot

Author: Naoki-Hiraoka

jsk_hrp2jsknts_robot/jsk_hrp2jsknts_startup/jsk_hrp2jsknts_move_base/global_costmap_params.yaml

@@ -7,9 +7,9 @@ global_costmap:
     - {name: inflation_layer, type: "costmap_2d::InflationLayer"}
   global_frame: map ## The global frame for the costmap to operate in.
   robot_base_frame: base_footprint ## The name of the frame for the base link of the robot.
-  transform_tolerance: 2.0 ## Specifies the delay in transform (tf) data that is tolerable in seconds.
-  update_frequency: 1.0 ## The frequency in Hz for the map to be updated.
-  publish_frequency: 1.0 ## The frequency in Hz for the map to be publish display information.
+  transform_tolerance: 3.0 ## Specifies the delay in transform (tf) data that is tolerable in seconds. # rtabmapの更新速度が遅いので3.0にする
+  update_frequency: 0.5 ## The frequency in Hz for the map to be updated. # rtabmapの更新速度が遅いので0.5hzにする
+  publish_frequency: 0.5 ## The frequency in Hz for the map to be publish display information. # rtabmapの更新速度が遅いので0.5hzにする
   rolling_window: false ## Whether or not to use a rolling window version of the costmap. If the static_map parameter is set to true, this parameter must be set to false.
   always_send_full_costmap: false ## If true the full costmap is published to "~<name>/costmap" every update. If false only the part of the costmap that has changed is published on the "~<name>/costmap_updates" topic.
 

jsk_hrp2jsknts_robot/jsk_hrp2jsknts_startup/jsk_hrp2jsknts_move_base/global_map.launch

@@ -23,8 +23,7 @@
         odom_frame_id: odom #最初のodomの原点がmapの原点になる。2次元地図を使用する場合は、mapのXY平面に対して射影が行われるが、このとき、Z成分が負の点やGrid/MaxObstacleHeightより大きい点はobstacleとしては無視される。そのため、最初のodomの原点のZ高さに注意を払う必要がある。
 
         map_always_update: true ## 立ち止まった時にもアップデート
-        # wait_for_transform: true
-        # wait_for_transform_duration: 0.5
+        wait_for_transform_duration: 0.5 ## 通信遅延に対応するため
 
         Grid/RayTracing: true ## octomap_occupied_space にray tracingが適用される
         Grid/CellSize: 0.02

jsk_hrp2jsknts_robot/jsk_hrp2jsknts_startup/jsk_hrp2jsknts_move_base/local_costmap_params.yaml

@@ -5,7 +5,7 @@ local_costmap:
     - {name: static_layer, type: "costmap_2d::StaticLayer"}
   robot_base_frame: base_footprint ## The name of the frame for the base link of the robot.
   global_frame: odom ## The global frame for the costmap to operate in.
-  transform_tolerance: 2.0 ## Specifies the delay in transform (tf) data that is tolerable in seconds.
+  transform_tolerance: 3.0 ## Specifies the delay in transform (tf) data that is tolerable in seconds. # 通信遅延に対応
   update_frequency: 2.0 ## The frequency in Hz for the map to be updated.
   publish_frequency: 2.0 ## The frequency in Hz for the map to be publish display information.
   rolling_window: false ## Whether or not to use a rolling window version of the costmap. If the static_map parameter is set to true, this parameter must be set to false.

jsk_hrp2jsknts_robot/jsk_hrp2jsknts_startup/jsk_hrp2jsknts_move_base/teb_local_planner_params.yaml

@@ -30,7 +30,7 @@ TebLocalPlannerROS:
   exact_arc_length: false ## If true, the planner uses the exact arc length in velocity, acceleration and turning rate computations (-> increased cpu time), otherwise the Euclidean approximation is used. ## hrpsysの中のgo-velocityはexectではない(false).
   shrink_horizon_min_duration: 3.0 ## Specify minimum duration for the reduced horizon in case an infeasible trajectory is detected (refer to parameter shrink_horizon_backup in order to activate the reduced horizon mode).
 
-  min_obstacle_dist: 0.25 ## Minimum desired separation from obstacles in meters ## mapのfootprintは使われず、footprint_modelが参照されることに注意. obstacle_association_cutoff_factor や obstacle_association_force_inclusion_factor に影響する
+  min_obstacle_dist: 0.30 ## Minimum desired separation from obstacles in meters ## mapのfootprintは使われず、footprint_modelが参照されることに注意. obstacle_association_cutoff_factor や obstacle_association_force_inclusion_factor に影響する
   include_costmap_obstacles: True ## Specify if obstacles of the local costmap should be taken into account. Each cell that is marked as obstacle is considered as a point-obstacle. Therefore do not choose a very small resolution of the costmap since it increases computation time. In future releases this circumstance is going to be addressed as well as providing an additional api for dynamic obstacles.
   costmap_obstacles_behind_robot_dist: 2.0 ## Limit the occupied local costmap obstacles taken into account for planning behind the robot (specify distance in meters).
   obstacle_poses_affected: 10 ## Each obstacle position is attached to the closest pose on the trajectory in order to keep a distance. Additional neighbors can be taken into account as well. Note, this parameter might be removed in future versions, since the the obstacle association strategy has been modified in kinetic+. Refer to the parameter description of legacy_obstacle_association.