TrajectoryPlannerROS:
- min_vel_x: 0.2
+ min_vel_x: 0.05
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: 1.0 # used by rotate recovery
+ escape_vel: 0.0 # Speed used for driving during escapes in meters/sec. Will move slowly even when the static map shows it as blocked
acc_lim_x: 0.14
acc_lim_y: 0.0
xy_goal_tolerance: 0.15
yaw_goal_tolerance: 0.1
+ # If goal tolerance is latched, if the robot ever reaches the goal xy location it will simply rotate in place, even if it ends up outside the goal tolerance while it is doing so.
+ latch_xy_goal_tolerance: true
# The weighting for how much the controller should attempt to avoid obstacles, default: 0.01
occdist_scale: 0.02
acc_lim_th: 6.00
max_vel_x: 0.5
- min_vel_x: 0.0 # no backward movement
+ min_vel_x: 0.1
max_vel_y: 0.0
min_vel_y: 0.0
max_trans_vel: 0.5
- min_trans_vel: 0.2
+ min_trans_vel: 0.1
max_rot_vel: 1.0
min_rot_vel: 0.4
- xy_goal_tolerance: 0.1
- yaw_goal_tolerance: 0.2
+ xy_goal_tolerance: 0.15
+ yaw_goal_tolerance: 0.1
# The weighting for how much the controller should attempt to avoid obstacles, default: 0.01
occdist_scale: 0.02
# The weighting for how much the controller should stay close to the path it was given, default: 32.0
path_distance_bias: 64.0
+
+PoseFollower:
+ holonomic: false
+ max_vel_lin: 0.5
+ max_vel_th: 1.0
+ min_vel_lin: 0.0
+ min_vel_th: 0.0
+ tolerance_trans: 0.15
+ tolerance_rot: 0.1
+ tolerance_timeout: 0.1
+ trans_stopped_velocity: 0.001
+ rot_stopped_velocity: 0.001
+ allow_backwards: false
+ # If true, turn in place to face the new goal instead of arching towards it
+ turn_in_place_first: false
+ # If turn_in_place_first is true, turn in place if our heading is more than this far from facing the goal location
+ max_heading_diff_before_moving: 0.175
+ # Gain factor for translation component of output velocities 0..20
+ k_trans: 1.0
+ # Gain factor for rotation component of output velocities: 0..20
+ k_rot: 2.0
+ collision_planner: # =TrajectoryPlannerROS
+ holonomic_robot: false
+ meter_scoring: true
+ xy_goal_tolerance: 0.15
+ yaw_goal_tolerance: 0.1
+ heading_scoring: false
+ heading_scoring_timestep: 0.3
+ oscillation_reset_dist: 0.1
+ sim_granularity: 0.05
+ angular_sim_granularity: 0.05
obstacle_range: 2.5
raytrace_range: 3.0
laser_scan_sensor: {data_type: LaserScan, topic: scan, marking: true, clearing: true}
- combination_method: 0 # overwrite
inflation_layer:
inflation_radius: 0.20
global_costmap:
global_frame: map
robot_base_frame: base_footprint
- static_map: true
publish_frequency: 1.0
plugins:
- {name: static_layer, type: 'costmap_2d::StaticLayer'}
- - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
+ #- {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
- {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
inflation_layer:
- # low slope decay curve
- inflation_radius: 1.75
- cost_scaling_factor: 2.58
+ inflation_radius: 0.4 # plan distance around corners
+
+ obstacle_layer:
+ combination_method: 0 # overwrite
+ track_unknown_space: true
robot_base_frame: base_footprint
update_frequency: 5.0
publish_frequency: 2.0
- static_map: false
rolling_window: true
width: 3.0
height: 3.0
--- /dev/null
+TrajectoryPlannerROS:
+ occdist_scale: 0.01
+ path_distance_bias: 1.2
+
+local_costmap:
+ resolution: 0.01
+
+global_costmap:
+ inflation_radius: 0.2
<arg name="slam_gmapping" default="false" />
<arg name="map_file" default="$(find wild_thumper)/data/map.yaml" />
<arg name="global_odom" default="false" />
+ <arg name="close_to_obstacles" default="false" />
<arg name="nomap" default="false" />
- <arg name="base_local_planner" default="base_local_planner/TrajectoryPlannerROS"/> <!-- base_local_planner/TrajectoryPlannerROS || dwa_local_planner/DWAPlannerROS -->
+ <arg name="base_global_planner" default="navfn/NavfnROS"/> <!-- navfn/NavfnROS || carrot_planner/CarrotPlanner -->
+ <arg name="base_local_planner" default="base_local_planner/TrajectoryPlannerROS"/> <!-- base_local_planner/TrajectoryPlannerROS || dwa_local_planner/DWAPlannerROS || pose_follower/PoseFollower -->
+ <!-- default: [{name: conservative_reset, type: clear_costmap_recovery/ClearCostmapRecovery}, {name: rotate_recovery, type: rotate_recovery/RotateRecovery}, {name: aggressive_reset, type: clear_costmap_recovery/ClearCostmapRecovery}]" -->
+ <arg name="recovery_behaviors" default="[{name: conservative_reset, type: clear_costmap_recovery/ClearCostmapRecovery}, {name: aggressive_reset, type: clear_costmap_recovery/ClearCostmapRecovery}]"/>
<!-- Run AMCL -->
<group unless="$(arg nomap)">
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" clear_params="true">
<param name="base_local_planner" value="$(arg base_local_planner)"/>
+ <param name="base_global_planner" value="$(arg base_global_planner)"/>
<param name="controller_frequency" value="10.0" />
+ <param name="max_planning_retries" value="3" />
+ <param name="clearing_rotation_allowed" value="false" />
+ <param name="GlobalPlanner/default_tolerance" value="0.2" />
+ <param name="conservative_reset/affected_maps" value="local" />
+ <param name="make_plan_clear_costmap" value="false" />
+ <param name="make_plan_add_unreachable_goal" value="false" />
+ <rosparam param="recovery_behaviors" subst_value="True">$(arg recovery_behaviors)</rosparam>
<rosparam file="$(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" />
<rosparam file="$(find wild_thumper)/config/global_costmap_params_odom.yaml" command="load" if="$(arg global_odom)" />
<rosparam file="$(find wild_thumper)/config/local_costmap_params.yaml" command="load" />
<rosparam file="$(find wild_thumper)/config/base_local_planner_params.yaml" command="load" />
+ <rosparam file="$(find wild_thumper)/config/nav_close_to_obstacles.yaml" command="load" if="$(arg close_to_obstacles)" />
<remap from="/cmd_vel" to="move_base/cmd_vel"/>
</node>
</launch>
<gazebo reference="${pos}_${side}_wheel">
<mu1 value="1.0"/>
<mu2 value="0.2"/>
- <kp value="1000000.0" />
- <kd value="1.0" />
+ <kp value="1000000000000.0" />
+ <kd value="0.0" />
<fdir1 value="0 1 0"/>
<minDepth>0.005</minDepth>
</gazebo>
</horizontal>
</scan>
<range>
- <min>0.15</min>
+ <min>0.20</min>
<max>16.0</max>
<resolution>0.01</resolution>
</range>
var isDragging = false;
function connect() {
- ros.connect('ws://wildthumper:9090');
+ ros.connect('ws://'+robothostname+':9090');
}
ros.on('connection', function() {
<script src="assets/javascripts/jquery.minicolors.js"></script>
<script src="assets/javascripts/vue.js"></script>
<script src="assets/javascripts/application.js"></script>
+ <script type="text/javascript">
+ robothostname="wildthumper"
+ </script>
<title>Wild Thumper control</title>
</head>
</div>
</div>
<div id="image" class="tab-pane" role="tabpanel">
- <img id="usb_cam" src="http://wildthumper:8080/stream?topic=/usb_cam/image_raw" style="transform:rotate(-90deg); transform-origin: 60% 60%;"></img>
+ <img id="usb_cam" src="http://"+robothostname+":8080/stream?topic=/usb_cam/image_raw" style="transform:rotate(-90deg); transform-origin: 60% 60%;"></img>
</div>
</div>
</div>
projects / ros_wild_thumper.git / commitdiff