diff --git a/cfg/amcl_params.yaml b/cfg/amcl_params.yaml index 5035266..f36f489 100644 --- a/cfg/amcl_params.yaml +++ b/cfg/amcl_params.yaml @@ -16,7 +16,7 @@ kld_err: 0.05 kld_z: 0.99 odom_alpha1: 0.2 odom_alpha2: 0.2 -## translation std dev, m +## translation std dev, m odom_alpha3: 0.2 odom_alpha4: 0.2 laser_z_hit: 0.5 @@ -32,7 +32,7 @@ update_min_a: 0.2 resample_interval: 1 -## Increase tolerance because the computer can get quite busy +## Increase tolerance because the computer can get quite busy transform_tolerance: 1.0 recovery_alpha_slow: 0.001 recovery_alpha_fast: 0.1 diff --git a/cfg/carlike/global_costmap_params.yaml b/cfg/carlike/global_costmap_params.yaml index d49d717..fef5efb 100644 --- a/cfg/carlike/global_costmap_params.yaml +++ b/cfg/carlike/global_costmap_params.yaml @@ -4,13 +4,9 @@ global_costmap: update_frequency: 1.0 publish_frequency: 0.5 static_map: true - + transform_tolerance: 0.5 plugins: - {name: static_layer, type: "costmap_2d::StaticLayer"} - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"} - {name: inflation_layer, type: "costmap_2d::InflationLayer"} - - - - diff --git a/cfg/carlike/local_costmap_params.yaml b/cfg/carlike/local_costmap_params.yaml index 536ff54..acf3bea 100644 --- a/cfg/carlike/local_costmap_params.yaml +++ b/cfg/carlike/local_costmap_params.yaml @@ -9,7 +9,7 @@ local_costmap: height: 5.5 resolution: 0.1 transform_tolerance: 0.5 - + plugins: - {name: static_layer, type: "costmap_2d::StaticLayer"} - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"} diff --git a/cfg/carlike/teb_local_planner_params.yaml b/cfg/carlike/teb_local_planner_params.yaml index e9b7f69..3c6758c 100644 --- a/cfg/carlike/teb_local_planner_params.yaml +++ b/cfg/carlike/teb_local_planner_params.yaml @@ -1,9 +1,9 @@ TebLocalPlannerROS: odom_topic: odom - + # Trajectory - + teb_autosize: True dt_ref: 0.3 dt_hysteresis: 0.1 @@ -16,9 +16,9 @@ TebLocalPlannerROS: exact_arc_length: False feasibility_check_no_poses: 2 publish_feedback: False - + # Robot - + max_vel_x: 0.4 max_vel_x_backwards: 0.2 max_vel_y: 0.0 @@ -44,14 +44,14 @@ TebLocalPlannerROS: vertices: [ [0.25, -0.05], [0.18, -0.05], [0.18, -0.18], [-0.19, -0.18], [-0.25, 0], [-0.19, 0.18], [0.18, 0.18], [0.18, 0.05], [0.25, 0.05] ] # for type "polygon" # GoalTolerance - + xy_goal_tolerance: 0.2 yaw_goal_tolerance: 0.1 free_goal_vel: False complete_global_plan: True - + # Obstacles - + min_obstacle_dist: 0.27 # This value must also include our robot's expansion, since footprint_model is set to "line". inflation_dist: 0.6 include_costmap_obstacles: True @@ -59,14 +59,14 @@ TebLocalPlannerROS: obstacle_poses_affected: 15 dynamic_obstacle_inflation_dist: 0.6 - include_dynamic_obstacles: True + include_dynamic_obstacles: True costmap_converter_plugin: "" costmap_converter_spin_thread: True costmap_converter_rate: 5 # Optimization - + no_inner_iterations: 5 no_outer_iterations: 4 optimization_activate: True @@ -113,7 +113,7 @@ TebLocalPlannerROS: visualize_with_time_as_z_axis_scale: False # Recovery - + shrink_horizon_backup: True shrink_horizon_min_duration: 10 oscillation_recovery: True diff --git a/cfg/diff_drive/costmap_common_params.yaml b/cfg/diff_drive/costmap_common_params.yaml index bdea1c7..6d95d4e 100644 --- a/cfg/diff_drive/costmap_common_params.yaml +++ b/cfg/diff_drive/costmap_common_params.yaml @@ -20,7 +20,6 @@ obstacle_layer: observation_sources: laser_scan_sensor laser_scan_sensor: {data_type: LaserScan, topic: scan, marking: true, clearing: true} - inflation_layer: enabled: true cost_scaling_factor: 10.0 # exponential rate at which the obstacle cost drops off (default: 10) diff --git a/cfg/diff_drive/costmap_converter_params.yaml b/cfg/diff_drive/costmap_converter_params.yaml index b99cf7f..5f5c162 100644 --- a/cfg/diff_drive/costmap_converter_params.yaml +++ b/cfg/diff_drive/costmap_converter_params.yaml @@ -1,21 +1,20 @@ ########################################################################################### ## NOTE: Costmap conversion is experimental. Its purpose is to combine many point ## -## obstales into clusters, computed in a separate thread in order to improve the overall ## +## obstales into clusters, computed in a separate thread in order to improve the overall ## ## efficiency of local planning. However, the implemented conversion algorithms are in a ## ## very early stage of development. Contributions are welcome! ## ########################################################################################### TebLocalPlannerROS: - ## Costmap converter plugin + ## Costmap converter plugin #costmap_converter_plugin: "costmap_converter::CostmapToPolygonsDBSMCCH" costmap_converter_plugin: "costmap_converter::CostmapToLinesDBSRANSAC" #costmap_converter_plugin: "costmap_converter::CostmapToLinesDBSMCCH" #costmap_converter_plugin: "costmap_converter::CostmapToPolygonsDBSConcaveHull" costmap_converter_spin_thread: True costmap_converter_rate: 5 - - + ## Configure plugins (namespace move_base/costmap_to_lines or move_base/costmap_to_polygons) ## costmap_converter/CostmapToLinesDBSRANSAC, costmap_converter/CostmapToLinesDBSMCCH, costmap_converter/CostmapToPolygonsDBSMCCH costmap_converter/CostmapToLinesDBSRANSAC: @@ -28,4 +27,3 @@ TebLocalPlannerROS: ransac_convert_outlier_pts: True ransac_filter_remaining_outlier_pts: False convex_hull_min_pt_separation: 0.1 - diff --git a/cfg/diff_drive/dyn_obst/costmap_converter_params.yaml b/cfg/diff_drive/dyn_obst/costmap_converter_params.yaml index 3e05c15..38c5448 100644 --- a/cfg/diff_drive/dyn_obst/costmap_converter_params.yaml +++ b/cfg/diff_drive/dyn_obst/costmap_converter_params.yaml @@ -1,18 +1,17 @@ ########################################################################################### ## NOTE: Costmap conversion is experimental. Its purpose is to combine many point ## -## obstales into clusters, computed in a separate thread in order to improve the overall ## +## obstales into clusters, computed in a separate thread in order to improve the overall ## ## efficiency of local planning. However, the implemented conversion algorithms are in a ## ## very early stage of development. Contributions are welcome! ## ########################################################################################### TebLocalPlannerROS: - ## Costmap converter plugin + ## Costmap converter plugin costmap_converter_plugin: "costmap_converter::CostmapToDynamicObstacles" costmap_converter_spin_thread: True costmap_converter_rate: 5 - - + ## Configure plugins (namespace move_base/CostmapToDynamicObstacles) costmap_converter/CostmapToDynamicObstacles: alpha_slow: 0.3 diff --git a/cfg/diff_drive/dyn_obst/global_costmap_params.yaml b/cfg/diff_drive/dyn_obst/global_costmap_params.yaml index 65dbbca..ff6a511 100644 --- a/cfg/diff_drive/dyn_obst/global_costmap_params.yaml +++ b/cfg/diff_drive/dyn_obst/global_costmap_params.yaml @@ -4,13 +4,9 @@ global_costmap: update_frequency: 1.0 publish_frequency: 0.5 static_map: true - + transform_tolerance: 0.5 plugins: - {name: static_layer, type: "costmap_2d::StaticLayer"} - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"} - {name: inflation_layer, type: "costmap_2d::InflationLayer"} - - - - diff --git a/cfg/diff_drive/dyn_obst/local_costmap_params.yaml b/cfg/diff_drive/dyn_obst/local_costmap_params.yaml index 395bd7a..c4ba57b 100644 --- a/cfg/diff_drive/dyn_obst/local_costmap_params.yaml +++ b/cfg/diff_drive/dyn_obst/local_costmap_params.yaml @@ -9,7 +9,7 @@ local_costmap: height: 12 resolution: 0.1 transform_tolerance: 0.5 - + plugins: - {name: static_layer, type: "costmap_2d::StaticLayer"} - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"} diff --git a/cfg/diff_drive/dyn_obst/teb_local_planner_params.yaml b/cfg/diff_drive/dyn_obst/teb_local_planner_params.yaml index 2624ffa..4be0022 100644 --- a/cfg/diff_drive/dyn_obst/teb_local_planner_params.yaml +++ b/cfg/diff_drive/dyn_obst/teb_local_planner_params.yaml @@ -72,7 +72,7 @@ TebLocalPlannerROS: selection_cost_hysteresis: 1.0 selection_obst_cost_scale: 1.0 selection_alternative_time_cost: True - + roadmap_graph_no_samples: 15 roadmap_graph_area_width: 5 h_signature_prescaler: 0.5 diff --git a/cfg/diff_drive/global_costmap_params.yaml b/cfg/diff_drive/global_costmap_params.yaml index d49d717..fef5efb 100644 --- a/cfg/diff_drive/global_costmap_params.yaml +++ b/cfg/diff_drive/global_costmap_params.yaml @@ -4,13 +4,9 @@ global_costmap: update_frequency: 1.0 publish_frequency: 0.5 static_map: true - + transform_tolerance: 0.5 plugins: - {name: static_layer, type: "costmap_2d::StaticLayer"} - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"} - {name: inflation_layer, type: "costmap_2d::InflationLayer"} - - - - diff --git a/cfg/diff_drive/local_costmap_params.yaml b/cfg/diff_drive/local_costmap_params.yaml index 536ff54..acf3bea 100644 --- a/cfg/diff_drive/local_costmap_params.yaml +++ b/cfg/diff_drive/local_costmap_params.yaml @@ -9,7 +9,7 @@ local_costmap: height: 5.5 resolution: 0.1 transform_tolerance: 0.5 - + plugins: - {name: static_layer, type: "costmap_2d::StaticLayer"} - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"} diff --git a/cfg/diff_drive/teb_local_planner_params.yaml b/cfg/diff_drive/teb_local_planner_params.yaml index 36d6ca9..c924470 100644 --- a/cfg/diff_drive/teb_local_planner_params.yaml +++ b/cfg/diff_drive/teb_local_planner_params.yaml @@ -31,14 +31,14 @@ TebLocalPlannerROS: type: "point" # GoalTolerance - + xy_goal_tolerance: 0.2 yaw_goal_tolerance: 0.1 free_goal_vel: False complete_global_plan: True - + # Obstacles - + min_obstacle_dist: 0.25 # This value must also include our robot radius, since footprint_model is set to "point". inflation_dist: 0.6 include_costmap_obstacles: True @@ -53,7 +53,7 @@ TebLocalPlannerROS: costmap_converter_rate: 5 # Optimization - + no_inner_iterations: 5 no_outer_iterations: 4 optimization_activate: True @@ -85,7 +85,7 @@ TebLocalPlannerROS: selection_prefer_initial_plan: 0.9 selection_obst_cost_scale: 100.0 selection_alternative_time_cost: False - + roadmap_graph_no_samples: 15 roadmap_graph_area_width: 5 roadmap_graph_area_length_scale: 1.0 @@ -100,7 +100,7 @@ TebLocalPlannerROS: visualize_with_time_as_z_axis_scale: False # Recovery - + shrink_horizon_backup: True shrink_horizon_min_duration: 10 oscillation_recovery: True diff --git a/cfg/omnidir/costmap_common_params.yaml b/cfg/omnidir/costmap_common_params.yaml index 57a101b..5155695 100644 --- a/cfg/omnidir/costmap_common_params.yaml +++ b/cfg/omnidir/costmap_common_params.yaml @@ -18,7 +18,6 @@ obstacle_layer: observation_sources: laser_scan_sensor laser_scan_sensor: {data_type: LaserScan, topic: scan, marking: true, clearing: true} - inflation_layer: enabled: true cost_scaling_factor: 10.0 # exponential rate at which the obstacle cost drops off (default: 10) diff --git a/cfg/omnidir/costmap_converter_params.yaml b/cfg/omnidir/costmap_converter_params.yaml index b99cf7f..e1bac90 100644 --- a/cfg/omnidir/costmap_converter_params.yaml +++ b/cfg/omnidir/costmap_converter_params.yaml @@ -7,15 +7,14 @@ TebLocalPlannerROS: - ## Costmap converter plugin + ## Costmap converter plugin #costmap_converter_plugin: "costmap_converter::CostmapToPolygonsDBSMCCH" costmap_converter_plugin: "costmap_converter::CostmapToLinesDBSRANSAC" #costmap_converter_plugin: "costmap_converter::CostmapToLinesDBSMCCH" #costmap_converter_plugin: "costmap_converter::CostmapToPolygonsDBSConcaveHull" costmap_converter_spin_thread: True costmap_converter_rate: 5 - - + ## Configure plugins (namespace move_base/costmap_to_lines or move_base/costmap_to_polygons) ## costmap_converter/CostmapToLinesDBSRANSAC, costmap_converter/CostmapToLinesDBSMCCH, costmap_converter/CostmapToPolygonsDBSMCCH costmap_converter/CostmapToLinesDBSRANSAC: @@ -28,4 +27,3 @@ TebLocalPlannerROS: ransac_convert_outlier_pts: True ransac_filter_remaining_outlier_pts: False convex_hull_min_pt_separation: 0.1 - diff --git a/cfg/omnidir/global_costmap_params.yaml b/cfg/omnidir/global_costmap_params.yaml index d49d717..fef5efb 100644 --- a/cfg/omnidir/global_costmap_params.yaml +++ b/cfg/omnidir/global_costmap_params.yaml @@ -4,13 +4,9 @@ global_costmap: update_frequency: 1.0 publish_frequency: 0.5 static_map: true - + transform_tolerance: 0.5 plugins: - {name: static_layer, type: "costmap_2d::StaticLayer"} - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"} - {name: inflation_layer, type: "costmap_2d::InflationLayer"} - - - - diff --git a/cfg/omnidir/local_costmap_params.yaml b/cfg/omnidir/local_costmap_params.yaml index 536ff54..acf3bea 100644 --- a/cfg/omnidir/local_costmap_params.yaml +++ b/cfg/omnidir/local_costmap_params.yaml @@ -9,7 +9,7 @@ local_costmap: height: 5.5 resolution: 0.1 transform_tolerance: 0.5 - + plugins: - {name: static_layer, type: "costmap_2d::StaticLayer"} - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"} diff --git a/cfg/omnidir/teb_local_planner_params.yaml b/cfg/omnidir/teb_local_planner_params.yaml index 1b0c901..e726ba2 100644 --- a/cfg/omnidir/teb_local_planner_params.yaml +++ b/cfg/omnidir/teb_local_planner_params.yaml @@ -1,7 +1,7 @@ TebLocalPlannerROS: - + # Trajectory - + teb_autosize: True dt_ref: 0.3 dt_hysteresis: 0.1 @@ -14,9 +14,9 @@ TebLocalPlannerROS: exact_arc_length: False feasibility_check_no_poses: 5 publish_feedback: False - + # Robot - + max_vel_x: 0.4 max_vel_x_backwards: 0.2 max_vel_y: 0.1 @@ -30,14 +30,14 @@ TebLocalPlannerROS: type: "point" # GoalTolerance - + xy_goal_tolerance: 0.2 yaw_goal_tolerance: 0.1 free_goal_vel: False complete_global_plan: True - + # Obstacles - + min_obstacle_dist: 0.25 # This value must also include our robot radius, since footprint_model is set to "point". inflation_dist: 0.6 include_costmap_obstacles: True @@ -48,7 +48,7 @@ TebLocalPlannerROS: costmap_converter_rate: 5 # Optimization - + no_inner_iterations: 5 no_outer_iterations: 4 optimization_activate: True @@ -82,7 +82,7 @@ TebLocalPlannerROS: selection_prefer_initial_plan: 0.9 selection_obst_cost_scale: 1.0 selection_alternative_time_cost: False - + roadmap_graph_no_samples: 15 roadmap_graph_area_width: 5 roadmap_graph_area_length_scale: 1.0 @@ -97,7 +97,7 @@ TebLocalPlannerROS: visualize_with_time_as_z_axis_scale: False # Recovery - + shrink_horizon_backup: True shrink_horizon_min_duration: 10 oscillation_recovery: True