From 80b61518513631afbd8acdcab2b23a53266080ca Mon Sep 17 00:00:00 2001 From: Erik Andresen Date: Sat, 1 Oct 2016 16:56:55 +0200 Subject: [PATCH] exploration tuning --- config/base_local_planner_params.yaml | 14 +++++++------- config/costmap_common_params.yaml | 4 +++- config/costmap_exploration.yaml | 17 +++++++++-------- data/motor_ctrl_pid_values.ods | Bin 12442 -> 15026 bytes launch/exploration.launch | 2 +- launch/move_base.launch | 3 ++- urdf/wild_thumper.urdf.xacro | 2 +- 7 files changed, 23 insertions(+), 19 deletions(-) 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 543fa457d9bf6497c7c682fecd78704306e15934..0a1186aff0e7c8a705b6cc857d18b54a5a15c2df 100644 GIT binary patch delta 13057 zcmaibWmFx(vhK#+CAho01b24}?ry=I32s4m(4fJBySo#d;1US#?*5V^@0@$zkJoF> z>Z|oNJvOYNy*5_$jQkmARr(iA)%z&x=z-4jg$yS$XXkrNwiMPJ} zs7&vff-r!T(o3`1E=eO>i^4xx;JH2Ob%&bQv&PvM{v|%AJT|{r1Q;wTo;T{9TEw~} zFaj4H$h_ZLz~PxDd{|p-BY1Su_m(Sec~z5{M)G4|yY=~aOiXz~Etg`nVi7Sl>1amA zZw`o__9@_{63yKg82uTqbnFa(d!6Gs_@@3>ZVtm|04pU3lAoETw)!g3i=r))jfr}Azk;%h^Zm+CCvn;R9?<I)^^LCx)5P>-4-)5`EMuR{4OqwbGqIlO$2B$To1ybRGPvM*j1*E=6Lv za2JoYV`IsKo}=WYHQI9~3@I^{O5qc~o1Mmq zxk&7|UY{lyCSc6Z={GScr$ryv$95nf>zB*)$-VK20SZ zZz{!g8DfpyL*hYI0@SQI#%gc~o#k6<3$|7ju%de(lnYH{{#hA>v+llVE9O{E{Czj~ zcHfW9ZChJcAcUZf4NnwO8rp0IvIo&1jS$T|k=(|)x*_V0&yk7avl6uSU4H`_g~UVg zFnW0C_qlmj4$NdI8$3A>BqKyy8QP7@7nu6r3|Hs__Bz28{hOu&rKTXd0{<8pT~h<{!axNw7JAQ 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