From: Erik Andresen Date: Thu, 2 Apr 2020 05:19:58 +0000 (+0200) Subject: Merge branch 'master' of ssh://vontaene/home/erik_alt/git/ros_wild_thumper X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=commitdiff_plain;h=5265263d46b9396252d852a763e68913ad3a913e;hp=38fd577a1efa5248a91105c1a907cb0f364a6dfa Merge branch 'master' of ssh://vontaene/home/erik_alt/git/ros_wild_thumper --- diff --git a/config/base_local_planner_params.yaml b/config/base_local_planner_params.yaml index bc544b8..5b3515d 100644 --- a/config/base_local_planner_params.yaml +++ b/config/base_local_planner_params.yaml @@ -1,10 +1,11 @@ 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 @@ -16,6 +17,8 @@ TrajectoryPlannerROS: 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 @@ -41,19 +44,50 @@ DWAPlannerROS: 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 diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml index 9c93210..5ff675a 100644 --- a/config/costmap_common_params.yaml +++ b/config/costmap_common_params.yaml @@ -5,7 +5,6 @@ obstacle_layer: 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 diff --git a/config/global_costmap_params.yaml b/config/global_costmap_params.yaml index af07509..d44e361 100644 --- a/config/global_costmap_params.yaml +++ b/config/global_costmap_params.yaml @@ -1,14 +1,15 @@ 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 diff --git a/config/local_costmap_params.yaml b/config/local_costmap_params.yaml index 29fc1bc..f5d3e38 100644 --- a/config/local_costmap_params.yaml +++ b/config/local_costmap_params.yaml @@ -3,7 +3,6 @@ local_costmap: 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 diff --git a/config/nav_close_to_obstacles.yaml b/config/nav_close_to_obstacles.yaml new file mode 100644 index 0000000..a433fd2 --- /dev/null +++ b/config/nav_close_to_obstacles.yaml @@ -0,0 +1,9 @@ +TrajectoryPlannerROS: + occdist_scale: 0.01 + path_distance_bias: 1.2 + +local_costmap: + resolution: 0.01 + +global_costmap: + inflation_radius: 0.2 diff --git a/launch/move_base.launch b/launch/move_base.launch index 5586989..33c5636 100644 --- a/launch/move_base.launch +++ b/launch/move_base.launch @@ -3,8 +3,12 @@ + - + + + + @@ -38,13 +42,22 @@ + + + + + + + + $(arg recovery_behaviors) + diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro index f50da66..95957e3 100644 --- a/urdf/wild_thumper.urdf.xacro +++ b/urdf/wild_thumper.urdf.xacro @@ -165,8 +165,8 @@ - - + + 0.005 @@ -274,7 +274,7 @@ - 0.15 + 0.20 16.0 0.01 diff --git a/www/assets/javascripts/application.js b/www/assets/javascripts/application.js index 2fc4176..7a87c12 100644 --- a/www/assets/javascripts/application.js +++ b/www/assets/javascripts/application.js @@ -4,7 +4,7 @@ function init() { var isDragging = false; function connect() { - ros.connect('ws://wildthumper:9090'); + ros.connect('ws://'+robothostname+':9090'); } ros.on('connection', function() { diff --git a/www/index.html b/www/index.html index 253c35d..db7e48d 100644 --- a/www/index.html +++ b/www/index.html @@ -21,6 +21,9 @@ + Wild Thumper control @@ -123,7 +126,7 @@
- +