Add default params file

Signed-off-by: Maria Teresa Ortega <teresa.ortega0903@gmail.com>

Author: teresa-ortega

examples/beluga_launch.py

@@ -16,6 +16,12 @@ def generate_launch_description():
     Returns:
         LaunchDescription: The complete ROS 2 launch description object.
     """
+    config_file_arg = DeclareLaunchArgument(
+        "beluga_config_path",
+        default_value="/example/defaul_params.ros.yaml",  # Opcional por defecto
+        description="Absolute YAML file path",
+    )
+
     map_path_arg = DeclareLaunchArgument("map_path", description="Absolute map path")
 
     laser_model_arg = DeclareLaunchArgument(
@@ -28,9 +34,6 @@ def generate_launch_description():
     max_particles_arg = DeclareLaunchArgument(
         "max_particles", default_value="2000", description="Max number of particles"
     )
-    laser_topic_arg = DeclareLaunchArgument(
-        "laser_topic", default_value="/scan", description="Topic for laser sensor"
-    )
 
     beluga_node = Node(
         package="beluga_amcl",
@@ -41,7 +44,6 @@ def generate_launch_description():
             {
                 "laser_model_type": LaunchConfiguration("laser_model_type"),
                 "max_particles": LaunchConfiguration("max_particles"),
-                "laser_topic": LaunchConfiguration("scan_topic"),
             }
         ],
     )
@@ -64,12 +66,12 @@ def generate_launch_description():
 
     return LaunchDescription(
         [
+            config_file_arg,
             map_path_arg,
             laser_model_arg,
             max_particles_arg,
             beluga_node,
             map_server_node,
             lifecycle_manager_node,
-            laser_topic_arg,
         ]
     )

examples/default.ros2.yaml

@@ -0,0 +1,103 @@
+amcl:
+  ros__parameters:
+    # Odometry motion model type.
+    robot_model_type: nav2_amcl::DifferentialMotionModel
+    # Expected process noise in odometry’s rotation estimate from rotation.
+    alpha1: 0.1
+    # Expected process noise in odometry’s rotation estimate from translation.
+    alpha2: 0.05
+    # Expected process noise in odometry’s translation estimate from translation.
+    alpha3: 0.1
+    # Expected process noise in odometry’s translation estimate from rotation.
+    alpha4: 0.05
+    # Expected process noise in odometry's strafe estimate from translation.
+    alpha5: 0.1
+    # The name of the coordinate frame published by the localization system.
+    global_frame_id: map
+    # The name of the coordinate frame published by the odometry system.
+    odom_frame_id: odom
+    # The name of the coordinate frame of the robot base.
+    base_frame_id: base_footprint
+    # The name of the topic where the map is published by the map server.
+    map_topic: map
+    # The name of the topic where scans are being published.
+    scan_topic: scan
+    # The name of the topic where an initial pose can be published.
+    # The particle filter will be reset using the provided pose with covariance.
+    initial_pose_topic: initialpose
+    # Maximum number of particles that will be used.
+    max_particles: 2000
+    # Minimum number of particles that will be used.
+    min_particles: 500
+    # Error allowed by KLD criteria.
+    pf_err: 0.05
+    # KLD criteria parameter.
+    # Upper standard normal quantile for the probability that the error in the
+    # estimated distribution is less than pf_err.
+    pf_z: 3.0
+    # Fast exponential filter constant, used to filter the average particles weights.
+    # Random particles are added if the fast filter result is larger than the slow filter result
+    # allowing the particle filter to recover from a bad approximation.
+    recovery_alpha_fast: 0.1
+    # Slow exponential filter constant, used to filter the average particles weights.
+    # Random particles are added if the fast filter result is larger than the slow filter result
+    # allowing the particle filter to recover from a bad approximation.
+    recovery_alpha_slow: 0.001
+    # Resample will happen after the amount of updates specified here happen.
+    resample_interval: 1
+    # Minimum angle difference from last resample for resampling to happen again.
+    update_min_a: 0.2
+    # Maximum angle difference from last resample for resampling to happen again.
+    update_min_d: 0.25
+    # Laser sensor model type.
+    laser_model_type: likelihood_field
+    # Maximum distance of an obstacle (if the distance is higher, this one will be used in the likelihood map).
+    laser_likelihood_max_dist: 2.0
+    # Maximum range of the laser.
+    laser_max_range: 100.0
+    # Maximum number of beams to use in the likelihood field sensor model.
+    max_beams: 100
+    # Weight used to combine the probability of hitting an obstacle.
+    z_hit: 0.5
+    # Weight used to combine the probability of random noise in perception.
+    z_rand: 0.5
+    # Whether to model unknown space or assume it free.
+    model_unknown_space: true
+    # Weight used to combine the probability of getting short readings.
+    z_short: 0.05
+    # Weight used to combine the probability of getting max range readings.
+    z_max: 0.05
+    # Standard deviation of a gaussian centered arounds obstacles.
+    sigma_hit: 0.2
+    # Whether to broadcast map to odom transform or not.
+    tf_broadcast: true
+    # Transform tolerance allowed.
+    transform_tolerance: 1.0
+    # Execution policy used to apply the motion update and importance weight steps.
+    # Valid options: "seq", "par".
+    execution_policy: seq
+    # Whether to set initial pose based on parameters.
+    # When enabled, particles will be initialized with the specified pose coordinates and covariance.
+    set_initial_pose: true
+    # If false, AMCL will use the last known pose to initialize when a new map is received.
+    always_reset_initial_pose: false
+    # Set this to true when you want to load only the first published map from map_server and ignore subsequent ones.
+    first_map_only: false
+    # Initial pose x coordinate.
+    initial_pose.x: 0.0
+    # Initial pose y coordinate.
+    initial_pose.y: 0.0
+    # Initial pose yaw coordinate.
+    initial_pose.yaw: 0.0
+    # Initial pose xx covariance.
+    initial_pose.covariance_x: 0.25
+    # Initial pose yy covariance.
+    initial_pose.covariance_y: 0.25
+    # Initial pose yawyaw covariance.
+    initial_pose.covariance_yaw: 0.0685
+    # Initial pose xy covariance.
+    initial_pose.covariance_xy: 0.0
+    # Initial pose xyaw covariance.
+    initial_pose.covariance_xyaw: 0.0
+    # Initial pose yyaw covariance.
+    initial_pose.covariance_yyaw: 0.0

src/lambkin/lambkin.py

@@ -14,7 +14,7 @@
 qos_file_path = "/ws/beluga/beluga_example/bags/qos_override.yaml"
 
 
-LASER_MODELS = ["likelihood", "beam"]
+LASER_MODELS = ["likelihood_field", "beam"]
 NUM_PARTICLES = [1, 10, 100, 1000, 10000]
 CLOCK_RATE_OPTION = ["--clock-rate", str(clock_rate)]
 QOS_OPTION = ["--qos-profile-overrides-path", qos_file_path]