From: Erik Andresen <erik@vontaene.de>
Date: Sat, 1 Oct 2016 14:56:55 +0000 (+0200)
Subject: exploration tuning
X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=80b61518513631afbd8acdcab2b23a53266080ca;p=ros_wild_thumper.git

exploration tuning
---

diff --git a/config/base_local_planner_params.yaml b/config/base_local_planner_params.yaml
index bbd95c1..b48a72f 100644
--- a/config/base_local_planner_params.yaml
+++ b/config/base_local_planner_params.yaml
@@ -1,10 +1,10 @@
 TrajectoryPlannerROS:
   min_vel_x: 0.2
-  max_vel_x: 0.3
-  min_vel_theta: -0.4
-  max_vel_theta: 0.4
+  max_vel_x: 0.5
+  min_vel_theta: -1.0
+  max_vel_theta: 1.0
   min_in_place_vel_theta: 0.4
-  max_rotational_vel: 0.5 # used by rotate recovery
+  max_rotational_vel: 1.0 # used by rotate recovery
 
   acc_lim_x: 10.07
   acc_lim_y: 0.0
@@ -28,8 +28,8 @@ DWAPlannerROS:
 
   max_trans_vel: 0.5
   min_trans_vel: 0.2
-  max_rot_vel: 0.5
+  max_rot_vel: 1.0
   min_rot_vel: 0.4
 
-  xy_goal_tolerance: 0.20
-  yaw_goal_tolerance: 0.3
+  xy_goal_tolerance: 0.1
+  yaw_goal_tolerance: 0.2
diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml
index 6e4b370..02ff12d 100644
--- a/config/costmap_common_params.yaml
+++ b/config/costmap_common_params.yaml
@@ -1,8 +1,10 @@
 footprint: [[0.14, 0.16], [-0.14, 0.16], [-0.14, -0.16], [0.14, -0.16]]
-inflation_radius: 0.5
 
 obstacle_layer:
   observation_sources: laser_scan_sensor
   obstacle_range: 2.5
   raytrace_range: 3.0
   laser_scan_sensor: {sensor_frame: camera_depth_frame, data_type: LaserScan, topic: scan, marking: true, clearing: true}
+
+inflation_layer:
+  inflation_radius: 0.5
diff --git a/config/costmap_exploration.yaml b/config/costmap_exploration.yaml
index 26f3800..0f5bc43 100644
--- a/config/costmap_exploration.yaml
+++ b/config/costmap_exploration.yaml
@@ -1,20 +1,21 @@
 #must match incoming static map
 global_frame: map
-robot_base_frame: base_link
-resolution: 0.05
+robot_base_frame: base_footprint
+update_frequency: 5.0
+resolution: 0.01
 
-track_unknown_space: true
 rolling_window: false
+track_unknown_space: true
 
 plugins: 
-- {name: static,           type: "costmap_2d::StaticLayer"}            
+- {name: static_layer, type: 'costmap_2d::StaticLayer'}
 - {name: explore_boundary, type: "frontier_exploration::BoundedExploreLayer"}
 #Can disable sensor layer if gmapping is fast enough to update scans
-- {name: sensor,           type: "costmap_2d::ObstacleLayer"}
-- {name: inflation,        type: "costmap_2d::InflationLayer"}
+- {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
+- {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
 
 explore_boundary:
-  resize_to_boundary: false
+  resize_to_boundary: true
   frontier_travel_point: middle
   #set to false for gmapping, true if re-exploring a known area
-  explore_clear_space: false
+  explore_clear_space: true
diff --git a/data/motor_ctrl_pid_values.ods b/data/motor_ctrl_pid_values.ods
index 543fa45..0a1186a 100644
Binary files a/data/motor_ctrl_pid_values.ods and b/data/motor_ctrl_pid_values.ods differ
diff --git a/launch/exploration.launch b/launch/exploration.launch
index a608265..0c81ea0 100644
--- a/launch/exploration.launch
+++ b/launch/exploration.launch
@@ -3,7 +3,7 @@
 	<node pkg="frontier_exploration" type="explore_client" name="explore_client" output="screen"/>
 
 	<node pkg="frontier_exploration" type="explore_server" name="explore_server" output="screen" >
-		<param name="frequency" type="double" value="1.0"/>
+		<param name="frequency" type="double" value="2.0"/>
 		<!-- Should be less than sensor range -->
 		<param name="goal_aliasing" type="double" value="2.0"/>
 
diff --git a/launch/move_base.launch b/launch/move_base.launch
index a046e6e..2ee4b5a 100644
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -3,7 +3,7 @@
 	<arg name="slam_gmapping" default="false" />
 	<arg name="map_file" default="$(find wild_thumper)/data/map.yaml" />
 	<arg name="nomap" default="false" />
-	<arg name="base_local_planner" default="dwa_local_planner/DWAPlannerROS"/> <!-- base_local_planner/TrajectoryPlannerROS || dwa_local_planner/DWAPlannerROS -->
+	<arg name="base_local_planner" default="base_local_planner/TrajectoryPlannerROS"/> <!-- base_local_planner/TrajectoryPlannerROS || dwa_local_planner/DWAPlannerROS -->
 
 	<!-- Run AMCL -->
 	<group unless="$(arg nomap)">
@@ -29,6 +29,7 @@
 
 	<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
 		<param name="base_local_planner" value="$(arg base_local_planner)"/>
+		<param name="controller_frequency" value="10.0" />
 		<rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
 		<rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
 		<rosparam file="$(find wild_thumper)/config/global_costmap_params.yaml" command="load" unless="$(arg nomap)" />
diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro
index 417123f..1bd641e 100644
--- a/urdf/wild_thumper.urdf.xacro
+++ b/urdf/wild_thumper.urdf.xacro
@@ -6,7 +6,7 @@
 	<link name="base_footprint">
 		<visual>
 			<geometry>
-				<box size="0.28 0.31 0.0"/>
+				<box size="0.28 0.31 0.000001"/>
 			</geometry>
 			<material name="grey">
 				<color rgba="0.5 0.5 0.5 0.5"/>