rst-tu-dortmund · urpylka · Mar 23, 2020
diff --git 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
@@ -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
@@ -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
@@ -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
@@ -44,29 +44,29 @@ 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
  costmap_obstacles_behind_robot_dist: 1.0
  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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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